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-05/08 23:04:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/08 23:04:59 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/08 23:04:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/08 23:04:59 INFO: {'batch_num': 3,
- 'benchmark_path': None,
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-                                'skip_erosion': False,
-                                'up_axis': 'z',
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-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge',
- 'seed': 1003,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.0),
-                         'base_pose_sampling_theta_range_rad': (-1.0, 1.0),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 0,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 10,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/08 23:04:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/08 23:04:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/08 23:04:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/08 23:04:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/08 23:04:59 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/08 23:04:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/08 23:04:59 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x719c841c0d50>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge',
- 'seed': 1001,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.0),
-                         'base_pose_sampling_theta_range_rad': (-1.0, 1.0),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 0,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 10,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/08 23:04:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/08 23:04:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/08 23:04:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/08 23:04:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/08 23:04:59 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/08 23:04:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/08 23:04:59 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7ce95d14efd0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge',
- 'seed': 1004,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.0),
-                         'base_pose_sampling_theta_range_rad': (-1.0, 1.0),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 0,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 10,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/08 23:04:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/08 23:04:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/08 23:04:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/08 23:04:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/08 23:04:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/08 23:05:00 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/08 23:05:00 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/08 23:05:00 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/08 23:05:00 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7ab927d63010>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge',
- 'seed': 1002,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.0),
-                         'base_pose_sampling_theta_range_rad': (-1.0, 1.0),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 0,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 10,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/08 23:05:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/08 23:05:00 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/08 23:05:00 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/08 23:05:00 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/08 23:05:00 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/08 23:05:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/08 23:05:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/08 23:05:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/08 23:05:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/08 23:05:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/08 23:05:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/08 23:05:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/08 23:05:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/08 23:05:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:05:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:05:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:05:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:05:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:05:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:05:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021379m	[env.py: 870]
-05/08 23:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:05:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/08 23:05:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008922m	[env.py: 870]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:05:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/08 23:05:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/08 23:05:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00573645  0.73480416  0.02137913] yaw=-158.9deg	[env.py: 1019]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.35270063 -0.27541414 -0.00892191] yaw=119.0deg	[env.py: 1019]
-05/08 23:05:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/08 23:05:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:05:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:05:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/08 23:05:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07125527  0.79068435 -0.00892191] yaw=-158.0deg	[env.py: 1019]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17914666  1.07079139  0.02137913] yaw=-140.5deg	[env.py: 1019]
-05/08 23:05:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:05:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:05:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:05:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008894m	[env.py: 870]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:05:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.2703414   0.90916655 -0.00892191] yaw=-126.9deg	[env.py: 1019]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:05:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=16.8ms, retries=109.8ms, total=126.6ms	[env.py: 1075]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.353, -0.275, -0.009)	[env.py: 1079]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 119.0 deg	[env.py: 1082]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04864142  0.32969698  0.02137913] yaw=167.0deg	[env.py: 1019]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:05:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=16.7ms, retries=158.6ms, total=175.2ms	[env.py: 1075]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.735, 0.021)	[env.py: 1079]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:05:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/08 23:05:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/08 23:05:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:05:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:05:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:05:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:05:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:05:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:05:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:05:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014745m	[env.py: 870]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:05:03 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94322248  0.23559303 -0.00889434] yaw=161.1deg	[env.py: 1019]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89760955  0.37940008 -0.00889434] yaw=184.7deg	[env.py: 1019]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03046971  0.63372843 -0.01474488] yaw=-158.9deg	[env.py: 1019]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95198622  0.77180671 -0.00889434] yaw=-160.3deg	[env.py: 1019]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:05:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=43.6ms, retries=265.8ms, total=309.5ms	[env.py: 1075]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.236, -0.009)	[env.py: 1079]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.14587749 -0.26837655 -0.01474488] yaw=140.4deg	[env.py: 1019]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01432938  0.63806269 -0.01474488] yaw=-172.4deg	[env.py: 1019]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:05:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=17.0ms, retries=203.8ms, total=220.7ms	[env.py: 1075]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.030, 0.634, -0.015)	[env.py: 1079]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
-05/08 23:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
-05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:05:03 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:05:03 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:05:03 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/08 23:05:03 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:05:03 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:05:03 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:05:03 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/08 23:05:03 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:05:25 INFO: [Worker 0] Warmed up parallel IK solver in 22.167s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:05:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:05:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:05:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:05:25 INFO: [Worker 0] Warmed up parallel IK solver in 22.516s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:05:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:05:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:05:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.096s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:05:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.376s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:05:26 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.432[m] 88.293[deg]	[grasp_sample.py: 539]
-05/08 23:05:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:05:26 INFO: [Worker 0] Warmed up parallel IK solver in 22.774s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:05:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:05:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:05:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:05:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:05:26 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.484[m] 94.224[deg]	[grasp_sample.py: 539]
-05/08 23:05:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:05:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:05:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:05:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:05:26 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.554[m] 93.815[deg]	[grasp_sample.py: 539]
-05/08 23:05:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:05:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:05:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:05:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:05:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:05:28 INFO: [Worker 0] Warmed up parallel IK solver in 24.810s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:05:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:05:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:05:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:05:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.435s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:05:28 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.473[m] 80.513[deg]	[grasp_sample.py: 539]
-05/08 23:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:05:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:05:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:06:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:06:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:06:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:06:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:06:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:06:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:06:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:06:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:06:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:06:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:06:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:06:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:07:26 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:07:32 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:07:32 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:07:34 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:07:43 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:07:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:07:43 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/08 23:07:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:07:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:07:49 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/08 23:07:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:07:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:07:49 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/08 23:07:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:07:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:07:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:07:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:07:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:07:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.57s (batch: 3.32s, save: 7.24s)	[pipeline.py: 300]
-05/08 23:07:54 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.41s:
-  episode_total: mean=174.87s, total=174.87s, count=1, min=174872.8ms, max=174872.8ms
-  sensor_polling: mean=400.0ms, total=112.81s, count=282, min=387.1ms, max=568.6ms
-  save_trajectories: mean=7.24s, total=7.24s, count=1, min=7241.0ms, max=7241.0ms
-  physics_step: mean=18.9ms, total=5.34s, count=282, min=14.1ms, max=28.1ms
-  task_sampling: mean=3.41s, total=3.41s, count=1, min=3411.5ms, max=3411.5ms
-  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3324.3ms, max=3324.3ms
-  scene_load: mean=2.88s, total=2.88s, count=1, min=2875.7ms, max=2875.7ms
-  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1848.1ms, max=1848.1ms
-  scene_compile: mean=825.2ms, total=825.2ms, count=1, min=825.2ms, max=825.2ms
-  compile_mujoco: mean=548.7ms, total=548.7ms, count=1, min=548.7ms, max=548.7ms
-  task_specific_sample: mean=532.9ms, total=532.9ms, count=1, min=532.9ms, max=532.9ms
-  compile_xml_load: mean=213.1ms, total=213.1ms, count=1, min=213.1ms, max=213.1ms
-  scene_init: mean=159.0ms, total=159.0ms, count=1, min=159.0ms, max=159.0ms
-  compile_aux_objects: mean=48.0ms, total=48.0ms, count=1, min=48.0ms, max=48.0ms
-  compile_aux_policy_objects: mean=48.0ms, total=48.0ms, count=1, min=48.0ms, max=48.0ms
-  scene_asset_install: mean=43.2ms, total=43.2ms, count=1, min=43.2ms, max=43.2ms
-  asset_install_grasps: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
-  asset_install_objects: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=512.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:07:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:07:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:07:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:07:56 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:07:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033703m	[env.py: 870]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.23999686  1.11785439  0.03370344] yaw=-130.1deg	[env.py: 1019]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.33572152 -0.26455058  0.03370344] yaw=123.3deg	[env.py: 1019]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.17529946  0.92033616  0.03370344] yaw=-143.8deg	[env.py: 1019]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:07:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.5ms, total=126.5ms	[env.py: 1075]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.240, 1.118, 0.034)	[env.py: 1079]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.1 deg	[env.py: 1082]
-05/08 23:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
-05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:07:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/08 23:07:56 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:07:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:07:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:07:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:07:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:07:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:07:57 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.485[m] 81.902[deg]	[grasp_sample.py: 539]
-05/08 23:07:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:07:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:07:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:08:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:08:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:08:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.95s (batch: 3.24s, save: 7.71s)	[pipeline.py: 300]
-05/08 23:08:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:08:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:08:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.05s (batch: 3.25s, save: 7.80s)	[pipeline.py: 300]
-05/08 23:08:01 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.62s:
-  episode_total: mean=181.26s, total=181.26s, count=1, min=181262.3ms, max=181262.3ms
-  sensor_polling: mean=399.5ms, total=117.84s, count=295, min=380.7ms, max=473.5ms
-  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7709.6ms, max=7709.6ms
-  physics_step: mean=19.6ms, total=5.77s, count=295, min=14.3ms, max=28.2ms
-  task_sampling: mean=3.62s, total=3.62s, count=1, min=3624.4ms, max=3624.4ms
-  save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3237.3ms, max=3237.3ms
-  scene_load: mean=2.93s, total=2.93s, count=1, min=2925.5ms, max=2925.5ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2043.7ms, max=2043.7ms
-  scene_compile: mean=782.9ms, total=782.9ms, count=1, min=782.9ms, max=782.9ms
-  task_specific_sample: mean=696.7ms, total=696.7ms, count=1, min=696.7ms, max=696.7ms
-  compile_mujoco: mean=482.2ms, total=482.2ms, count=1, min=482.2ms, max=482.2ms
-  compile_xml_load: mean=236.9ms, total=236.9ms, count=1, min=236.9ms, max=236.9ms
-  scene_init: mean=59.9ms, total=59.9ms, count=1, min=59.9ms, max=59.9ms
-  compile_aux_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  compile_aux_policy_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  scene_asset_install: mean=38.7ms, total=38.7ms, count=1, min=38.7ms, max=38.7ms
-  asset_install_grasps: mean=28.0ms, total=28.0ms, count=1, min=28.0ms, max=28.0ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  compile_robot_add: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
-  asset_install_scene: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
-  mj_forward_sync: mean=371.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:08:01 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.05s:
-  episode_total: mean=181.81s, total=181.81s, count=1, min=181814.3ms, max=181814.3ms
-  sensor_polling: mean=403.3ms, total=116.15s, count=288, min=387.4ms, max=615.9ms
-  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7798.3ms, max=7798.3ms
-  physics_step: mean=18.6ms, total=5.35s, count=288, min=13.6ms, max=29.5ms
-  task_sampling: mean=4.05s, total=4.05s, count=1, min=4051.9ms, max=4051.9ms
-  scene_load: mean=3.40s, total=3.40s, count=1, min=3399.4ms, max=3399.4ms
-  save_batch_prep: mean=3.25s, total=3.25s, count=1, min=3254.5ms, max=3254.5ms
-  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2192.9ms, max=2192.9ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1106.5ms, max=1106.5ms
-  task_specific_sample: mean=650.0ms, total=650.0ms, count=1, min=650.0ms, max=650.0ms
-  compile_mujoco: mean=614.0ms, total=614.0ms, count=1, min=614.0ms, max=614.0ms
-  compile_xml_load: mean=415.5ms, total=415.5ms, count=1, min=415.5ms, max=415.5ms
-  scene_init: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
-  asset_install_grasps: mean=27.5ms, total=27.5ms, count=1, min=27.5ms, max=27.5ms
-  compile_robot_add: mean=15.8ms, total=15.8ms, count=1, min=15.8ms, max=15.8ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
-  mj_forward_sync: mean=348.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
-  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:08:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:08:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:08:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:08:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:08:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:08:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:08:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031495m	[env.py: 870]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:08:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.25478499  0.97485515 -0.03149517] yaw=-141.3deg	[env.py: 1019]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:08:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:08:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:08:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:08:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:08:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:08:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:08:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016719m	[env.py: 870]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:08:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.23669606 -0.23649307 -0.03149517] yaw=128.4deg	[env.py: 1019]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85714495  0.36356817 -0.03149517] yaw=178.6deg	[env.py: 1019]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.9ms, total=105.0ms	[env.py: 1075]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.255, 0.975, -0.031)	[env.py: 1079]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg	[env.py: 1082]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12954875 -0.21082833  0.01671924] yaw=129.5deg	[env.py: 1019]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.21479952 -0.27598926  0.01671924] yaw=140.7deg	[env.py: 1019]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99263894 -0.08024374  0.01671924] yaw=147.7deg	[env.py: 1019]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:08:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.1ms	[env.py: 1075]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.130, -0.211, 0.017)	[env.py: 1079]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 129.5 deg	[env.py: 1082]
-05/08 23:08:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:08:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:08:02 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/08 23:08:02 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:08:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:08:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:08:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:08:03 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:08:03 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:08:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:08:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:08:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:08:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:08:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:08:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.368s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:08:03 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.399[m] 86.012[deg]	[grasp_sample.py: 539]
-05/08 23:08:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:08:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:08:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:08:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.45s (batch: 3.22s, save: 8.23s)	[pipeline.py: 300]
-05/08 23:08:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:08:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:08:04 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.94s:
-  episode_total: mean=184.64s, total=184.64s, count=1, min=184639.2ms, max=184639.2ms
-  sensor_polling: mean=400.0ms, total=119.99s, count=300, min=367.3ms, max=511.7ms
-  save_trajectories: mean=8.23s, total=8.23s, count=1, min=8227.8ms, max=8227.8ms
-  physics_step: mean=18.4ms, total=5.53s, count=300, min=13.5ms, max=28.5ms
-  task_sampling: mean=3.94s, total=3.94s, count=1, min=3941.9ms, max=3941.9ms
-  scene_load: mean=3.31s, total=3.31s, count=1, min=3310.0ms, max=3310.0ms
-  save_batch_prep: mean=3.22s, total=3.22s, count=1, min=3218.5ms, max=3218.5ms
-  scene_env_create: mean=2.13s, total=2.13s, count=1, min=2127.2ms, max=2127.2ms
-  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.2ms, max=1043.2ms
-  compile_mujoco: mean=750.4ms, total=750.4ms, count=1, min=750.4ms, max=750.4ms
-  task_specific_sample: mean=629.1ms, total=629.1ms, count=1, min=629.1ms, max=629.1ms
-  compile_xml_load: mean=214.8ms, total=214.8ms, count=1, min=214.8ms, max=214.8ms
-  scene_init: mean=101.1ms, total=101.1ms, count=1, min=101.1ms, max=101.1ms
-  compile_aux_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  compile_aux_policy_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  scene_asset_install: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
-  asset_install_grasps: mean=27.2ms, total=27.2ms, count=1, min=27.2ms, max=27.2ms
-  compile_robot_add: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
-  mj_forward_sync: mean=519.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=37.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:08:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:08:04 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.556[m] 87.251[deg]	[grasp_sample.py: 539]
-05/08 23:08:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:08:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:08:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:08:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:08:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:08:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:08:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:08:05 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:08:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:08:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044811m	[env.py: 870]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:08:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14228619  0.94328703 -0.04481147] yaw=-152.1deg	[env.py: 1019]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9272469   0.05270645 -0.04481147] yaw=147.9deg	[env.py: 1019]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08492717  0.22196356 -0.04481147] yaw=160.2deg	[env.py: 1019]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:08:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.5ms, total=85.5ms	[env.py: 1075]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.142, 0.943, -0.045)	[env.py: 1079]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
-05/08 23:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
-05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:08:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:08:05 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/08 23:08:05 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:08:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:08:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:08:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:08:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:08:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:08:06 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.599[m] 98.243[deg]	[grasp_sample.py: 539]
-05/08 23:08:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:08:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:08:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:08:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:08:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:08:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:08:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:08:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:08:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:08:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:09:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:09:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:09:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:09:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:09:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:09:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:10:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:10:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:10:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:10:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:10:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.476s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:10:02 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.046[m] 0.396[deg]	[grasp_sample.py: 539]
-05/08 23:10:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:10:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:10:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:10:07 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:10:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:10:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:10:17 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:10:17 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:10:18 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:10:27 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:10:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:10:27 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/08 23:10:38 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:10:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:10:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:10:38 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:10:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:10:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:10:39 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:10:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:10:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:10:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:10:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:10:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.19s (batch: 4.08s, save: 8.11s)	[pipeline.py: 300]
-05/08 23:10:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.39s:
-  episode_total: mean=157.46s, total=157.46s, count=1, min=157456.6ms, max=157456.6ms
-  sensor_polling: mean=420.0ms, total=116.75s, count=278, min=391.0ms, max=628.3ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8112.6ms, max=8112.6ms
-  physics_step: mean=19.7ms, total=5.49s, count=278, min=15.4ms, max=27.5ms
-  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.6ms, max=4075.6ms
-  task_sampling: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
-  task_specific_sample: mean=391.3ms, total=391.3ms, count=1, min=391.3ms, max=391.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:10:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:10:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:10:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:10:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:10:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:10:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:10:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026170m	[env.py: 870]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:10:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95890915  0.64222397 -0.02617048] yaw=-170.1deg	[env.py: 1019]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91290474  0.67001367 -0.02617048] yaw=-174.1deg	[env.py: 1019]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.3573647  -0.2459351  -0.02617048] yaw=131.6deg	[env.py: 1019]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:10:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.2ms, total=83.2ms	[env.py: 1075]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.642, -0.026)	[env.py: 1079]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.1 deg	[env.py: 1082]
-05/08 23:10:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
-05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:10:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:10:41 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:10:41 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:10:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:10:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:10:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:10:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:10:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:10:42 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.548[m] 95.762[deg]	[grasp_sample.py: 539]
-05/08 23:10:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:10:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:10:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:10:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:10:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:10:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.66s (batch: 3.87s, save: 8.80s)	[pipeline.py: 300]
-05/08 23:10:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:10:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:10:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.60s (batch: 3.87s, save: 8.74s)	[pipeline.py: 300]
-05/08 23:10:51 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.35s:
-  episode_total: mean=175.61s, total=175.61s, count=1, min=175605.4ms, max=175605.4ms
-  sensor_polling: mean=413.9ms, total=124.17s, count=300, min=351.9ms, max=615.6ms
-  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8797.8ms, max=8797.8ms
-  physics_step: mean=18.9ms, total=5.67s, count=300, min=13.6ms, max=25.8ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3866.9ms, max=3866.9ms
-  task_sampling: mean=345.2ms, total=345.2ms, count=1, min=345.2ms, max=345.2ms
-  task_specific_sample: mean=341.7ms, total=341.7ms, count=1, min=341.7ms, max=341.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=370.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:10:51 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.43s:
-  episode_total: mean=169.34s, total=169.34s, count=1, min=169342.7ms, max=169342.7ms
-  sensor_polling: mean=417.1ms, total=125.12s, count=300, min=392.7ms, max=573.1ms
-  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.5ms, max=8735.5ms
-  physics_step: mean=18.9ms, total=5.67s, count=300, min=13.5ms, max=24.8ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3867.5ms, max=3867.5ms
-  task_sampling: mean=425.5ms, total=425.5ms, count=1, min=425.5ms, max=425.5ms
-  task_specific_sample: mean=421.3ms, total=421.3ms, count=1, min=421.3ms, max=421.3ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=514.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:10:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:10:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:10:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.93s (batch: 3.64s, save: 9.29s)	[pipeline.py: 300]
-05/08 23:10:53 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.32s:
-  episode_total: mean=167.38s, total=167.38s, count=1, min=167377.6ms, max=167377.6ms
-  sensor_polling: mean=414.8ms, total=124.43s, count=300, min=385.1ms, max=565.1ms
-  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9292.6ms, max=9292.6ms
-  physics_step: mean=18.8ms, total=5.65s, count=300, min=13.5ms, max=24.0ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3636.6ms, max=3636.6ms
-  task_sampling: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
-  task_specific_sample: mean=313.0ms, total=313.0ms, count=1, min=313.0ms, max=313.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:10:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:10:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:10:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:10:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:10:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:10:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:10:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009409m	[env.py: 870]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:10:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:10:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:10:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:10:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:10:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:10:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:10:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:10:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002449m	[env.py: 870]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:10:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09613572  1.03570255  0.00940923] yaw=-131.1deg	[env.py: 1019]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15268984 -0.14891534  0.00940923] yaw=134.3deg	[env.py: 1019]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06091158  0.10629625  0.00940923] yaw=150.4deg	[env.py: 1019]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:10:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=286.9ms, total=286.9ms	[env.py: 1075]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.096, 1.036, 0.009)	[env.py: 1079]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.1 deg	[env.py: 1082]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07753487 -0.21950319  0.00244947] yaw=142.0deg	[env.py: 1019]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1573553  -0.1287386   0.00244947] yaw=147.4deg	[env.py: 1019]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:10:54 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/08 23:10:54 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12367311  1.09974053  0.00244947] yaw=-133.0deg	[env.py: 1019]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:10:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=581.0ms, total=581.0ms	[env.py: 1075]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, -0.220, 0.002)	[env.py: 1079]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.0 deg	[env.py: 1082]
-05/08 23:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
-05/08 23:10:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:10:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:10:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:10:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:10:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:10:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.172s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:10:54 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/08 23:10:54 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:10:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:10:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:10:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:10:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:10:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:10:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:10:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:10:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:10:55 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:10:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:10:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028999m	[env.py: 870]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:10:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9551048   0.8256184  -0.02899883] yaw=-152.8deg	[env.py: 1019]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93166857  0.5797618  -0.02899883] yaw=-173.6deg	[env.py: 1019]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98715666  0.54538295 -0.02899883] yaw=-167.3deg	[env.py: 1019]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:10:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.9ms, total=142.0ms	[env.py: 1075]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.826, -0.029)	[env.py: 1079]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
-05/08 23:10:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
-05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:10:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:10:55 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:10:55 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:10:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:10:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:10:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:10:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:10:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.488s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:10:56 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.524[m] 79.221[deg]	[grasp_sample.py: 539]
-05/08 23:10:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:10:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:10:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:10:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.974s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:10:56 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.634[m] 92.232[deg]	[grasp_sample.py: 539]
-05/08 23:10:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:10:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:10:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:10:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.023s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:10:58 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.500[m] 80.100[deg]	[grasp_sample.py: 539]
-05/08 23:10:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:10:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:10:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:11:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:11:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:11:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:11:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:11:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:11:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:11:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:11:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:11:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:11:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:12:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:12:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:13:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:13:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:13:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:13:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:13:20 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:13:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:13:21 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:13:23 INFO: [Worker 0] Object is not in grasp! 0.00120 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/08 23:13:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:13:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:13:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:13:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:13:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.389s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:13:24 INFO: [Worker 0] Feasible grasp found 271 (originally 77): w/ 0.793[m] 49.903[deg]	[grasp_sample.py: 539]
-05/08 23:13:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:13:24 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:13:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:13:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:13:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:13:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:13:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:13:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:13:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:13:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:13:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.211s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:13:36 INFO: [Worker 0] Feasible grasp found 209 (originally 15): w/ 0.869[m] 76.915[deg]	[grasp_sample.py: 539]
-05/08 23:13:37 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/08 23:13:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:13:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:13:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.45s (batch: 3.87s, save: 9.58s)	[pipeline.py: 300]
-05/08 23:13:38 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.37s:
-  episode_total: mean=177.61s, total=177.61s, count=1, min=177613.4ms, max=177613.4ms
-  sensor_polling: mean=445.8ms, total=133.75s, count=300, min=362.4ms, max=826.1ms
-  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9584.4ms, max=9584.4ms
-  physics_step: mean=23.7ms, total=7.10s, count=300, min=13.7ms, max=57.3ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3870.2ms, max=3870.2ms
-  task_sampling: mean=371.1ms, total=371.1ms, count=1, min=371.1ms, max=371.1ms
-  task_specific_sample: mean=367.5ms, total=367.5ms, count=1, min=367.5ms, max=367.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=375.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:13:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:13:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:13:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:13:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:13:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:13:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:13:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048945m	[env.py: 870]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:13:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0492653   0.11346076 -0.04894518] yaw=163.4deg	[env.py: 1019]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.33791518 -0.24439379 -0.04894518] yaw=132.0deg	[env.py: 1019]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.32289619  1.14407609 -0.04894518] yaw=-128.8deg	[env.py: 1019]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:13:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.4ms, total=69.4ms	[env.py: 1075]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 0.113, -0.049)	[env.py: 1079]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg	[env.py: 1082]
-05/08 23:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
-05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:13:39 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/08 23:13:39 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:13:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:13:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:13:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:13:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:13:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.411s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:13:39 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.508[m] 90.448[deg]	[grasp_sample.py: 539]
-05/08 23:13:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:13:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:13:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:13:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:13:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:13:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:13:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:13:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:13:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:13:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035000m	[env.py: 870]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:13:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.26662397  1.04532037  0.03499978] yaw=-137.4deg	[env.py: 1019]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.17801855  0.7576008   0.03499978] yaw=-161.0deg	[env.py: 1019]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.23813281 -0.23280259  0.03499978] yaw=141.2deg	[env.py: 1019]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:13:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.4ms	[env.py: 1075]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.267, 1.045, 0.035)	[env.py: 1079]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.4 deg	[env.py: 1082]
-05/08 23:13:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
-05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:13:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:13:40 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/08 23:13:40 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:13:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:13:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:13:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:13:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:13:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:13:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:13:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:13:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:13:41 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.455[m] 89.712[deg]	[grasp_sample.py: 539]
-05/08 23:13:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:13:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:13:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:13:42 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:13:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:13:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:13:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:13:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:13:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.18s (batch: 3.90s, save: 8.28s)	[pipeline.py: 300]
-05/08 23:13:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.56s:
-  episode_total: mean=180.43s, total=180.43s, count=1, min=180432.6ms, max=180432.6ms
-  sensor_polling: mean=449.2ms, total=134.76s, count=300, min=389.7ms, max=654.7ms
-  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8283.3ms, max=8283.3ms
-  physics_step: mean=21.5ms, total=6.46s, count=300, min=15.5ms, max=53.1ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3899.0ms, max=3899.0ms
-  task_sampling: mean=564.0ms, total=564.0ms, count=1, min=564.0ms, max=564.0ms
-  task_specific_sample: mean=560.1ms, total=560.1ms, count=1, min=560.1ms, max=560.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=514.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:13:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:13:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:13:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.76s (batch: 3.72s, save: 8.04s)	[pipeline.py: 300]
-05/08 23:13:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.93s:
-  episode_total: mean=181.11s, total=181.11s, count=1, min=181106.5ms, max=181106.5ms
-  sensor_polling: mean=448.6ms, total=134.57s, count=300, min=391.1ms, max=683.3ms
-  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8036.4ms, max=8036.4ms
-  physics_step: mean=21.1ms, total=6.32s, count=300, min=16.9ms, max=61.2ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3723.2ms, max=3723.2ms
-  task_sampling: mean=932.0ms, total=932.0ms, count=1, min=932.0ms, max=932.0ms
-  task_specific_sample: mean=928.7ms, total=928.7ms, count=1, min=928.7ms, max=928.7ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=437.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:13:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:13:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:13:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:13:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:13:55 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:13:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:13:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033823m	[env.py: 870]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:13:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98178245  0.45727676  0.03382259] yaw=-189.2deg	[env.py: 1019]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.30446907  1.02369173  0.03382259] yaw=-131.6deg	[env.py: 1019]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0067943   0.59047494  0.03382259] yaw=-174.7deg	[env.py: 1019]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:13:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.8ms, total=106.8ms	[env.py: 1075]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.457, 0.034)	[env.py: 1079]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.2 deg	[env.py: 1082]
-05/08 23:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
-05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:13:55 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:13:55 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:13:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:13:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:13:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:13:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:13:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:13:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:13:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:13:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:13:56 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:13:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:13:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000239m	[env.py: 870]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:13:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.24901261e+00 -6.97715382e-02  2.39334622e-04] yaw=135.4deg	[env.py: 1019]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13961552e+00 -8.83681104e-02  2.39334622e-04] yaw=132.1deg	[env.py: 1019]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.83804613e-01  8.27635774e-01  2.39334622e-04] yaw=-160.5deg	[env.py: 1019]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:13:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.9ms, total=116.9ms	[env.py: 1075]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.249, -0.070, 0.000)	[env.py: 1079]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.4 deg	[env.py: 1082]
-05/08 23:13:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.744m	[env.py: 1086]
-05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:13:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:13:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.586s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:13:56 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.463[m] 89.558[deg]	[grasp_sample.py: 539]
-05/08 23:13:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:13:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/08 23:13:56 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:13:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:13:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:13:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:13:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.165s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:13:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:13:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:13:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.809s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:13:57 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.381[m] 86.060[deg]	[grasp_sample.py: 539]
-05/08 23:13:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:13:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:13:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:14:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:14:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:14:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:14:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:14:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:14:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:14:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:14:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:14:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:14:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:14:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:14:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:15:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:16:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:16:02 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:16:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:16:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:16:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:16:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:16:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.442s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:16:09 INFO: [Worker 0] Feasible grasp found 285 (originally 91): w/ 0.157[m] 2.781[deg]	[grasp_sample.py: 539]
-05/08 23:16:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:16:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:16:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:16:11 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:16:16 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:16:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:16:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:16:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:16:22 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/08 23:16:28 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:16:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:16:28 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
-05/08 23:16:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:16:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:16:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.12s (batch: 4.33s, save: 7.79s)	[pipeline.py: 300]
-05/08 23:16:35 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.75s:
-  episode_total: mean=169.40s, total=338.79s, count=2, min=162460.2ms, max=176333.1ms
-  sensor_polling: mean=442.2ms, total=263.11s, count=595, min=357.5ms, max=883.2ms
-  physics_step: mean=22.0ms, total=13.10s, count=595, min=15.6ms, max=55.8ms
-  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7789.7ms, max=7789.7ms
-  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4333.1ms, max=4333.1ms
-  task_sampling: mean=376.2ms, total=752.4ms, count=2, min=305.0ms, max=447.4ms
-  task_specific_sample: mean=372.7ms, total=745.4ms, count=2, min=302.2ms, max=443.2ms
-  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
-  mj_forward_sync: mean=446.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:16:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:16:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:16:35 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/08 23:16:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:16:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:16:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:16:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:16:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:16:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:16:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:16:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:16:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:16:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038620m	[env.py: 870]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:16:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.22589959 -0.02256584  0.03862011] yaw=143.9deg	[env.py: 1019]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89377997  0.09778099  0.03862011] yaw=161.5deg	[env.py: 1019]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86598406  0.68005323  0.03862011] yaw=-158.9deg	[env.py: 1019]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:16:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=63.2ms, total=63.3ms	[env.py: 1075]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.226, -0.023, 0.039)	[env.py: 1079]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.9 deg	[env.py: 1082]
-05/08 23:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
-05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:16:37 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/08 23:16:37 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:16:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:16:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:16:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:16:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:16:37 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.378[m] 87.549[deg]	[grasp_sample.py: 539]
-05/08 23:16:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:16:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:16:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:16:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:16:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:16:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.53s (batch: 3.23s, save: 7.30s)	[pipeline.py: 300]
-05/08 23:16:39 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s:
-  episode_total: mean=163.47s, total=163.47s, count=1, min=163471.2ms, max=163471.2ms
-  sensor_polling: mean=457.0ms, total=123.86s, count=271, min=376.6ms, max=686.3ms
-  save_trajectories: mean=7.30s, total=7.30s, count=1, min=7299.3ms, max=7299.3ms
-  physics_step: mean=23.0ms, total=6.23s, count=271, min=16.1ms, max=56.2ms
-  save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3226.2ms, max=3226.2ms
-  task_sampling: mean=379.5ms, total=379.5ms, count=1, min=379.5ms, max=379.5ms
-  task_specific_sample: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=386.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=29.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:16:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:16:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:16:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:16:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:16:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:16:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:16:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017797m	[env.py: 870]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:16:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07693423 -0.18826477  0.01779686] yaw=147.2deg	[env.py: 1019]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.31927829 -0.08187606  0.01779686] yaw=140.7deg	[env.py: 1019]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.27381676 -0.38333635  0.01779686] yaw=130.3deg	[env.py: 1019]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:16:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.0ms, total=140.1ms	[env.py: 1075]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, -0.188, 0.018)	[env.py: 1079]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.2 deg	[env.py: 1082]
-05/08 23:16:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
-05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:16:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:16:41 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/08 23:16:41 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:16:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:16:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:16:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:16:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:16:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.315s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:16:43 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.617[m] 93.108[deg]	[grasp_sample.py: 539]
-05/08 23:16:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:16:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:16:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:16:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:16:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:16:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.42s (batch: 3.65s, save: 7.78s)	[pipeline.py: 300]
-05/08 23:16:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:16:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:16:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.74s (batch: 3.71s, save: 8.02s)	[pipeline.py: 300]
-05/08 23:16:47 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.36s:
-  episode_total: mean=171.89s, total=171.89s, count=1, min=171894.2ms, max=171894.2ms
-  sensor_polling: mean=453.0ms, total=130.91s, count=289, min=364.0ms, max=663.8ms
-  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7776.3ms, max=7776.3ms
-  physics_step: mean=21.5ms, total=6.22s, count=289, min=16.8ms, max=54.2ms
-  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3647.3ms, max=3647.3ms
-  task_sampling: mean=356.8ms, total=356.8ms, count=1, min=356.8ms, max=356.8ms
-  task_specific_sample: mean=353.4ms, total=353.4ms, count=1, min=353.4ms, max=353.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=359.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:16:47 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.35s:
-  episode_total: mean=187.49s, total=187.49s, count=1, min=187488.9ms, max=187488.9ms
-  sensor_polling: mean=453.3ms, total=135.98s, count=300, min=375.9ms, max=718.9ms
-  save_trajectories: mean=8.02s, total=8.02s, count=1, min=8020.8ms, max=8020.8ms
-  physics_step: mean=23.8ms, total=7.15s, count=300, min=14.1ms, max=82.1ms
-  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3714.4ms, max=3714.4ms
-  task_sampling: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
-  task_specific_sample: mean=342.1ms, total=342.1ms, count=1, min=342.1ms, max=342.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=394.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:16:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:16:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:16:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:16:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:16:49 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:16:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:16:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033841m	[env.py: 870]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:16:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06740984 -0.00512822 -0.03384075] yaw=142.0deg	[env.py: 1019]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03794029  0.18681181 -0.03384075] yaw=166.5deg	[env.py: 1019]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.392585   -0.14266398 -0.03384075] yaw=115.1deg	[env.py: 1019]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:16:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.2ms, total=126.2ms	[env.py: 1075]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.067, -0.005, -0.034)	[env.py: 1079]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.0 deg	[env.py: 1082]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:16:49 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:16:49 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:16:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:16:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:16:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:16:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:16:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:16:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:16:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:16:49 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:16:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:16:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007971m	[env.py: 870]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:16:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:16:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.28265786 -0.06296382  0.00797054] yaw=143.2deg	[env.py: 1019]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1365763  -0.10180606  0.00797054] yaw=133.4deg	[env.py: 1019]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.26961601  0.88966679  0.00797054] yaw=-131.7deg	[env.py: 1019]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:16:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.3ms, total=76.3ms	[env.py: 1075]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.283, -0.063, 0.008)	[env.py: 1079]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.2 deg	[env.py: 1082]
-05/08 23:16:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.714m	[env.py: 1086]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:16:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:16:49 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/08 23:16:49 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:16:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:16:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:16:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:16:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:16:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:16:50 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.439[m] 77.149[deg]	[grasp_sample.py: 539]
-05/08 23:16:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:16:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:16:50 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.383[m] 80.388[deg]	[grasp_sample.py: 539]
-05/08 23:16:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:16:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:16:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:16:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:16:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:17:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:17:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:17:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:17:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:17:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:17:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:17:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:17:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:17:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:17:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:17:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:17:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:18:41 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:18:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:18:57 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:19:00 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:19:01 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:19:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:19:01 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
-05/08 23:19:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:19:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:19:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.08s (batch: 3.60s, save: 7.48s)	[pipeline.py: 300]
-05/08 23:19:12 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.34s:
-  episode_total: mean=155.97s, total=155.97s, count=1, min=155968.4ms, max=155968.4ms
-  sensor_polling: mean=431.1ms, total=116.82s, count=271, min=385.8ms, max=803.6ms
-  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7481.3ms, max=7481.3ms
-  physics_step: mean=19.4ms, total=5.27s, count=271, min=13.6ms, max=39.7ms
-  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3601.4ms, max=3601.4ms
-  task_sampling: mean=336.2ms, total=336.2ms, count=1, min=336.2ms, max=336.2ms
-  task_specific_sample: mean=332.8ms, total=332.8ms, count=1, min=332.8ms, max=332.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=385.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:19:14 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:19:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:19:14 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
-05/08 23:19:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:19:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:19:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:14 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:19:14 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:19:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038110m	[env.py: 870]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:19:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09643484  0.2553989   0.03810962] yaw=160.1deg	[env.py: 1019]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99004415  0.75690576  0.03810962] yaw=-168.1deg	[env.py: 1019]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07443549  1.0213175   0.03810962] yaw=-148.1deg	[env.py: 1019]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:19:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.0ms, total=170.1ms	[env.py: 1075]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.096, 0.255, 0.038)	[env.py: 1079]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
-05/08 23:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.728m	[env.py: 1086]
-05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:14 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/08 23:19:14 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:19:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:19:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:19:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:19:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:19:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.361s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:19:15 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.417[m] 98.812[deg]	[grasp_sample.py: 539]
-05/08 23:19:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:19:15 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:19:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:19:15 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/08 23:19:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:19:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:19:20 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:19:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:19:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:19:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:19:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:19:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.97s (batch: 3.83s, save: 10.14s)	[pipeline.py: 300]
-05/08 23:19:28 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.34s:
-  episode_total: mean=159.39s, total=159.39s, count=1, min=159388.2ms, max=159388.2ms
-  sensor_polling: mean=432.8ms, total=117.28s, count=271, min=408.3ms, max=662.7ms
-  save_trajectories: mean=10.14s, total=10.14s, count=1, min=10140.9ms, max=10140.9ms
-  physics_step: mean=19.5ms, total=5.28s, count=271, min=14.1ms, max=28.7ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3829.4ms, max=3829.4ms
-  task_sampling: mean=343.3ms, total=343.3ms, count=1, min=343.3ms, max=343.3ms
-  task_specific_sample: mean=339.9ms, total=339.9ms, count=1, min=339.9ms, max=339.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=365.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:19:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:19:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:19:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.51s (batch: 3.59s, save: 9.92s)	[pipeline.py: 300]
-05/08 23:19:29 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.40s:
-  episode_total: mean=160.93s, total=160.93s, count=1, min=160929.2ms, max=160929.2ms
-  sensor_polling: mean=425.2ms, total=119.48s, count=281, min=400.9ms, max=645.9ms
-  save_trajectories: mean=9.92s, total=9.92s, count=1, min=9921.5ms, max=9921.5ms
-  physics_step: mean=19.9ms, total=5.58s, count=281, min=13.7ms, max=54.4ms
-  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3589.7ms, max=3589.7ms
-  task_sampling: mean=401.2ms, total=401.2ms, count=1, min=401.2ms, max=401.2ms
-  task_specific_sample: mean=397.6ms, total=397.6ms, count=1, min=397.6ms, max=397.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=371.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:19:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:19:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:19:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:19:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001036m	[env.py: 870]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.21587518e+00  9.66572880e-01 -1.03574456e-03] yaw=-142.8deg	[env.py: 1019]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98745078 -0.00438361 -0.00103574] yaw=153.8deg	[env.py: 1019]
-05/08 23:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.18543485e+00 -2.95338813e-01 -1.03574456e-03] yaw=136.6deg	[env.py: 1019]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=334.6ms, total=334.6ms	[env.py: 1075]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.216, 0.967, -0.001)	[env.py: 1079]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:31 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:19:31 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:19:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:19:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:19:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:19:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:19:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:19:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:31 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:19:31 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:19:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:19:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007942m	[env.py: 870]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:19:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.28644346  1.07459278  0.0079422 ] yaw=-134.3deg	[env.py: 1019]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.25496483  1.17181492  0.0079422 ] yaw=-127.3deg	[env.py: 1019]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8589264   0.14983812  0.0079422 ] yaw=157.4deg	[env.py: 1019]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.3ms, total=69.4ms	[env.py: 1075]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.286, 1.075, 0.008)	[env.py: 1079]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.3 deg	[env.py: 1082]
-05/08 23:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:19:31 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.431[m] 82.423[deg]	[grasp_sample.py: 539]
-05/08 23:19:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:19:32 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/08 23:19:32 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:19:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:19:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:19:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:19:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:19:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:19:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:19:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:19:33 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.535[m] 94.536[deg]	[grasp_sample.py: 539]
-05/08 23:19:34 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/08 23:19:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:19:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:19:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.56s (batch: 4.31s, save: 11.25s)	[pipeline.py: 300]
-05/08 23:19:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:19:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:19:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:19:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:19:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:19:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018082m	[env.py: 870]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:19:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16198626  0.79240184 -0.01808227] yaw=-151.0deg	[env.py: 1019]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06091194 -0.04417527 -0.01808227] yaw=148.8deg	[env.py: 1019]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82574468  0.55888246 -0.01808227] yaw=-179.9deg	[env.py: 1019]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:19:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.4ms, total=108.4ms	[env.py: 1075]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.162, 0.792, -0.018)	[env.py: 1079]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.0 deg	[env.py: 1082]
-05/08 23:19:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.740m	[env.py: 1086]
-05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:36 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.41s:
-  episode_total: mean=175.00s, total=175.00s, count=1, min=175004.2ms, max=175004.2ms
-  sensor_polling: mean=429.6ms, total=128.87s, count=300, min=382.6ms, max=667.6ms
-  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11252.2ms, max=11252.2ms
-  physics_step: mean=19.3ms, total=5.80s, count=300, min=14.2ms, max=31.9ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.7ms, max=4310.7ms
-  task_sampling: mean=405.9ms, total=405.9ms, count=1, min=405.9ms, max=405.9ms
-  task_specific_sample: mean=402.5ms, total=402.5ms, count=1, min=402.5ms, max=402.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=366.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:19:36 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/08 23:19:36 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:19:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:19:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:19:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:19:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:19:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.445s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:19:37 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.472[m] 103.262[deg]	[grasp_sample.py: 539]
-05/08 23:19:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:19:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:19:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:19:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:19:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:19:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:19:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:19:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:19:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000407m	[env.py: 870]
-05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:19:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-9.49752948e-01  1.13674807e-01 -4.07166303e-04] yaw=167.0deg	[env.py: 1019]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-9.06831583e-01  8.45801313e-01 -4.07166303e-04] yaw=-165.3deg	[env.py: 1019]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02406658e+00  6.41609201e-01 -4.07166303e-04] yaw=-170.0deg	[env.py: 1019]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:19:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.5ms, total=88.5ms	[env.py: 1075]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.114, -0.000)	[env.py: 1079]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
-05/08 23:19:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
-05/08 23:19:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:19:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:19:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:19:38 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:19:38 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:19:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:19:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:19:38 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:19:38 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:19:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:19:39 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.490[m] 78.309[deg]	[grasp_sample.py: 539]
-05/08 23:19:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:19:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:19:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:19:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:20:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:20:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:20:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:20:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:20:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:20:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:20:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:20:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:20:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:20:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:20:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:21:45 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:21:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:21:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:21:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:21:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:21:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.331s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:21:52 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 0.225[deg]	[grasp_sample.py: 539]
-05/08 23:21:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:21:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:21:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:21:58 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:21:59 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:22:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:22:04 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:22:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:22:04 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/08 23:22:05 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:22:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:22:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:22:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.39s (batch: 3.91s, save: 7.48s)	[pipeline.py: 300]
-05/08 23:22:16 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s:
-  episode_total: mean=181.71s, total=181.71s, count=1, min=181714.5ms, max=181714.5ms
-  sensor_polling: mean=456.4ms, total=128.70s, count=282, min=390.7ms, max=818.5ms
-  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7484.4ms, max=7484.4ms
-  physics_step: mean=22.0ms, total=6.20s, count=282, min=13.9ms, max=48.2ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3909.6ms, max=3909.6ms
-  task_sampling: mean=411.5ms, total=411.5ms, count=1, min=411.5ms, max=411.5ms
-  task_specific_sample: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=368.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:22:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:22:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:22:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:22:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:22:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:22:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:22:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034451m	[env.py: 870]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:22:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84014254  0.40844285  0.03445072] yaw=183.6deg	[env.py: 1019]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13726702  0.04474743  0.03445072] yaw=148.8deg	[env.py: 1019]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89309776  0.32001592  0.03445072] yaw=183.3deg	[env.py: 1019]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:22:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.8ms	[env.py: 1075]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.408, 0.034)	[env.py: 1079]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg	[env.py: 1082]
-05/08 23:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
-05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:22:18 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/08 23:22:18 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:22:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:22:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:22:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:22:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.139s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:22:19 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:22:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:22:19 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/08 23:22:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:22:19 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.579[m] 89.884[deg]	[grasp_sample.py: 539]
-05/08 23:22:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:22:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:22:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:22:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:22:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:22:20 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/08 23:22:24 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:22:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:22:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:22:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:22:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:22:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.19s (batch: 3.81s, save: 10.38s)	[pipeline.py: 300]
-05/08 23:22:34 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.64s:
-  episode_total: mean=90.41s, total=180.82s, count=2, min=2892.4ms, max=177924.4ms
-  sensor_polling: mean=446.1ms, total=132.04s, count=296, min=385.3ms, max=639.4ms
-  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10378.7ms, max=10378.7ms
-  physics_step: mean=21.8ms, total=6.46s, count=296, min=13.6ms, max=56.3ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3813.4ms, max=3813.4ms
-  task_sampling: mean=321.8ms, total=643.6ms, count=2, min=319.7ms, max=324.0ms
-  task_specific_sample: mean=318.4ms, total=636.8ms, count=2, min=315.8ms, max=321.0ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=430.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=20.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:22:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:22:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:22:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.84s (batch: 3.83s, save: 10.01s)	[pipeline.py: 300]
-05/08 23:22:34 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.34s:
-  episode_total: mean=176.96s, total=176.96s, count=1, min=176961.7ms, max=176961.7ms
-  sensor_polling: mean=452.7ms, total=131.73s, count=291, min=391.5ms, max=768.7ms
-  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10014.8ms, max=10014.8ms
-  physics_step: mean=21.3ms, total=6.21s, count=291, min=14.3ms, max=82.9ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3826.4ms, max=3826.4ms
-  task_sampling: mean=340.3ms, total=340.3ms, count=1, min=340.3ms, max=340.3ms
-  task_specific_sample: mean=336.9ms, total=336.9ms, count=1, min=336.9ms, max=336.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=364.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:22:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:22:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:22:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:22:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:22:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:22:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:22:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:22:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:22:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034502m	[env.py: 870]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:22:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85082624  0.34315418  0.03450242] yaw=173.9deg	[env.py: 1019]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07262359  0.11744502  0.03450242] yaw=151.6deg	[env.py: 1019]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0602445   1.0920893   0.03450242] yaw=-148.1deg	[env.py: 1019]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:22:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.2ms, total=117.2ms	[env.py: 1075]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.343, 0.035)	[env.py: 1079]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.9 deg	[env.py: 1082]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
-05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:22:36 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:22:36 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:22:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:22:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:22:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:22:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:22:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:22:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:22:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:22:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:22:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:22:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:22:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:22:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048620m	[env.py: 870]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:22:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:22:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90413642  0.40999728  0.04861957] yaw=171.7deg	[env.py: 1019]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.18248204 -0.35059628  0.04861957] yaw=118.0deg	[env.py: 1019]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.40816252 -0.18751882  0.04861957] yaw=113.8deg	[env.py: 1019]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:22:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=316.6ms, total=316.6ms	[env.py: 1075]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.410, 0.049)	[env.py: 1079]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
-05/08 23:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
-05/08 23:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:22:37 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/08 23:22:37 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:22:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:22:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:22:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:22:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:22:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.191s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:22:37 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.539[m] 85.419[deg]	[grasp_sample.py: 539]
-05/08 23:22:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:22:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:22:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:22:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.823s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:22:38 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.535[m] 93.960[deg]	[grasp_sample.py: 539]
-05/08 23:22:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:22:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:22:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:22:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:22:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:22:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.09s (batch: 4.10s, save: 10.99s)	[pipeline.py: 300]
-05/08 23:22:40 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.63s:
-  episode_total: mean=190.02s, total=190.02s, count=1, min=190017.6ms, max=190017.6ms
-  sensor_polling: mean=451.1ms, total=135.33s, count=300, min=391.5ms, max=682.0ms
-  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10986.7ms, max=10986.7ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=14.9ms, max=47.7ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4102.3ms, max=4102.3ms
-  task_sampling: mean=626.1ms, total=626.1ms, count=1, min=626.1ms, max=626.1ms
-  task_specific_sample: mean=621.7ms, total=621.7ms, count=1, min=621.7ms, max=621.7ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=586.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:22:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:22:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:22:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:22:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:22:42 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:22:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:22:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017884m	[env.py: 870]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:22:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99899999  0.95080807 -0.01788374] yaw=-145.0deg	[env.py: 1019]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10730968  0.72173271 -0.01788374] yaw=-163.2deg	[env.py: 1019]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.20484497  1.15634836 -0.01788374] yaw=-124.5deg	[env.py: 1019]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:22:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.2ms, total=86.3ms	[env.py: 1075]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 0.951, -0.018)	[env.py: 1079]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.0 deg	[env.py: 1082]
-05/08 23:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
-05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:22:42 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:22:42 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:22:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:22:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:22:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:22:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:22:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.496s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:22:44 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.505[m] 80.643[deg]	[grasp_sample.py: 539]
-05/08 23:22:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:22:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:22:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:23:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:23:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:23:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:23:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:23:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:23:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:23:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:23:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:23:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:23:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:23:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:23:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:24:29 INFO: [Worker 0] Object is not in grasp! 0.00179 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/08 23:24:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:24:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:24:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:24:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 364 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:24:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:24:29 INFO: [Worker 0] Feasible grasp found 167 (originally 167): w/ 0.088[m] 2.731[deg]	[grasp_sample.py: 539]
-05/08 23:24:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:24:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:24:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:24:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:24:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:24:47 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:24:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:25:01 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:25:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:25:07 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:25:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:25:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:25:10 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:25:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:25:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:25:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.12s (batch: 3.99s, save: 8.13s)	[pipeline.py: 300]
-05/08 23:25:20 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.35s:
-  episode_total: mean=182.35s, total=182.35s, count=1, min=182345.5ms, max=182345.5ms
-  sensor_polling: mean=454.9ms, total=136.48s, count=300, min=382.0ms, max=819.5ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8131.1ms, max=8131.1ms
-  physics_step: mean=22.4ms, total=6.72s, count=300, min=13.6ms, max=53.6ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3990.9ms, max=3990.9ms
-  task_sampling: mean=350.0ms, total=350.0ms, count=1, min=350.0ms, max=350.0ms
-  task_specific_sample: mean=346.0ms, total=346.0ms, count=1, min=346.0ms, max=346.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=456.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:25:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:25:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:25:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:25:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:25:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:25:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:25:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034901m	[env.py: 870]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:25:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06195932  1.04246404 -0.03490134] yaw=-149.2deg	[env.py: 1019]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02245249  0.6248475  -0.03490134] yaw=-158.3deg	[env.py: 1019]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:25:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.3ms, total=169.3ms	[env.py: 1075]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.062, 1.042, -0.035)	[env.py: 1079]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
-05/08 23:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
-05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:25:22 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:25:22 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:25:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:25:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:25:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:25:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:25:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:25:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:25:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:25:23 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:25:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:25:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:25:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.393s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:25:23 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.640[m] 91.055[deg]	[grasp_sample.py: 539]
-05/08 23:25:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:25:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:25:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:25:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:25:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:25:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:25:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:25:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:25:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.15s (batch: 4.06s, save: 10.09s)	[pipeline.py: 300]
-05/08 23:25:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:25:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:25:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.10s (batch: 3.79s, save: 10.31s)	[pipeline.py: 300]
-05/08 23:25:37 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.61s:
-  episode_total: mean=180.77s, total=180.77s, count=1, min=180767.8ms, max=180767.8ms
-  sensor_polling: mean=445.7ms, total=133.72s, count=300, min=391.8ms, max=750.4ms
-  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10089.5ms, max=10089.5ms
-  physics_step: mean=21.1ms, total=6.32s, count=300, min=16.9ms, max=44.4ms
-  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4059.3ms, max=4059.3ms
-  task_sampling: mean=608.1ms, total=608.1ms, count=1, min=608.1ms, max=608.1ms
-  task_specific_sample: mean=603.6ms, total=603.6ms, count=1, min=603.6ms, max=603.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=541.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=29.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:25:38 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.40s:
-  episode_total: mean=182.25s, total=182.25s, count=1, min=182248.2ms, max=182248.2ms
-  sensor_polling: mean=449.2ms, total=134.76s, count=300, min=386.4ms, max=695.1ms
-  save_trajectories: mean=10.31s, total=10.31s, count=1, min=10308.5ms, max=10308.5ms
-  physics_step: mean=21.3ms, total=6.38s, count=300, min=16.7ms, max=52.7ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3792.5ms, max=3792.5ms
-  task_sampling: mean=402.0ms, total=402.0ms, count=1, min=402.0ms, max=402.0ms
-  task_specific_sample: mean=397.6ms, total=397.6ms, count=1, min=397.6ms, max=397.6ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=581.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:25:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:25:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:25:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:25:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:25:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:25:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:25:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025780m	[env.py: 870]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:25:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86283537  0.48656624 -0.02578038] yaw=-171.4deg	[env.py: 1019]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.21604366  0.96321982 -0.02578038] yaw=-128.4deg	[env.py: 1019]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99244015  0.87824898 -0.02578038] yaw=-146.8deg	[env.py: 1019]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:25:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=119.4ms, total=119.5ms	[env.py: 1075]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.487, -0.026)	[env.py: 1079]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.4 deg	[env.py: 1082]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:25:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/08 23:25:39 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:25:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:25:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:25:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:25:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:25:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:25:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:25:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026335m	[env.py: 870]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:25:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:25:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:25:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:25:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.171s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99247691 -0.04362111 -0.02633547] yaw=139.8deg	[env.py: 1019]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06375574  0.57653658 -0.02633547] yaw=-161.1deg	[env.py: 1019]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82868029  0.63746762 -0.02633547] yaw=-175.5deg	[env.py: 1019]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:25:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=379.8ms, total=379.9ms	[env.py: 1075]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, -0.044, -0.026)	[env.py: 1079]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.8 deg	[env.py: 1082]
-05/08 23:25:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
-05/08 23:25:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:25:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:25:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:25:40 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:25:40 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:25:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:25:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:25:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:25:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.090s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:25:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.097s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:25:42 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.542[m] 85.325[deg]	[grasp_sample.py: 539]
-05/08 23:25:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:25:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.794s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:25:42 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.564[m] 86.750[deg]	[grasp_sample.py: 539]
-05/08 23:25:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:25:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:25:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:25:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.30s (batch: 4.46s, save: 9.84s)	[pipeline.py: 300]
-05/08 23:25:45 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.34s:
-  episode_total: mean=183.63s, total=183.63s, count=1, min=183632.7ms, max=183632.7ms
-  sensor_polling: mean=452.8ms, total=135.83s, count=300, min=385.4ms, max=716.4ms
-  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9837.7ms, max=9837.7ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=13.8ms, max=69.4ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4462.3ms, max=4462.3ms
-  task_sampling: mean=342.4ms, total=342.4ms, count=1, min=342.4ms, max=342.4ms
-  task_specific_sample: mean=338.6ms, total=338.6ms, count=1, min=338.6ms, max=338.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=435.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:25:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:25:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:25:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:25:47 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:25:47 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:25:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:25:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020375m	[env.py: 870]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:25:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.35923824 -0.2398748  -0.02037467] yaw=125.8deg	[env.py: 1019]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97080655  0.28281916 -0.02037467] yaw=176.5deg	[env.py: 1019]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89336522  0.57128603 -0.02037467] yaw=-170.3deg	[env.py: 1019]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:25:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.9ms, total=100.9ms	[env.py: 1075]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.359, -0.240, -0.020)	[env.py: 1079]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 125.8 deg	[env.py: 1082]
-05/08 23:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
-05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:25:47 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:25:47 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:25:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:25:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:25:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:25:48 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:25:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.473s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:25:48 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.428[m] 77.331[deg]	[grasp_sample.py: 539]
-05/08 23:25:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:25:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:25:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:26:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:26:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:26:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:26:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:26:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:26:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:26:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:26:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:26:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:26:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:26:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:26:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:27:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:27:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:27:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:27:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:27:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:27:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:27:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:27:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:27:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:27:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 326 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:27:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.477s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:27:48 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.081[m] 0.436[deg]	[grasp_sample.py: 539]
-05/08 23:27:48 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:27:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:27:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:27:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:27:58 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:28:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:28:04 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:28:06 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:28:19 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:28:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:28:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:28:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:28:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:28:22 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
-05/08 23:28:24 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:28:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:28:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:28:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:28:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:28:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:28:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:28:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:28:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.74s (batch: 3.64s, save: 10.10s)	[pipeline.py: 300]
-05/08 23:28:34 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.44s:
-  episode_total: mean=192.51s, total=192.51s, count=1, min=192511.5ms, max=192511.5ms
-  sensor_polling: mean=455.2ms, total=136.55s, count=300, min=375.6ms, max=790.0ms
-  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10099.7ms, max=10099.7ms
-  physics_step: mean=21.3ms, total=6.39s, count=300, min=13.6ms, max=47.1ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.9ms, max=3641.9ms
-  task_sampling: mean=438.0ms, total=438.0ms, count=1, min=438.0ms, max=438.0ms
-  task_specific_sample: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=375.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=29.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:28:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:28:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:28:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:28:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:28:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:28:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:28:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049456m	[env.py: 870]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:28:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89797797  0.59077007  0.04945604] yaw=-159.1deg	[env.py: 1019]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95572468  0.75747947  0.04945604] yaw=-164.1deg	[env.py: 1019]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:28:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:28:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:28:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.80s (batch: 3.87s, save: 9.93s)	[pipeline.py: 300]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16049775 -0.23012286  0.04945604] yaw=131.6deg	[env.py: 1019]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:28:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=268.7ms, total=268.8ms	[env.py: 1075]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.591, 0.049)	[env.py: 1079]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.1 deg	[env.py: 1082]
-05/08 23:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
-05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:28:36 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:28:36 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:28:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:28:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:28:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:28:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.085s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:28:36 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.44s:
-  episode_total: mean=169.14s, total=169.14s, count=1, min=169138.9ms, max=169138.9ms
-  sensor_polling: mean=448.8ms, total=125.23s, count=279, min=398.8ms, max=626.4ms
-  save_trajectories: mean=9.93s, total=9.93s, count=1, min=9926.8ms, max=9926.8ms
-  physics_step: mean=21.2ms, total=5.91s, count=279, min=14.2ms, max=48.3ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.6ms, max=3873.6ms
-  task_sampling: mean=440.3ms, total=440.3ms, count=1, min=440.3ms, max=440.3ms
-  task_specific_sample: mean=436.8ms, total=436.8ms, count=1, min=436.8ms, max=436.8ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=371.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:28:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.613s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:28:37 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.489[m] 83.484[deg]	[grasp_sample.py: 539]
-05/08 23:28:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:28:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:28:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:28:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:28:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:28:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:28:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:28:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:28:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:28:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034898m	[env.py: 870]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:28:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.29359479 -0.24407557 -0.03489846] yaw=128.0deg	[env.py: 1019]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93359263  0.70763439 -0.03489846] yaw=-154.7deg	[env.py: 1019]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.28363215 -0.09606714 -0.03489846] yaw=137.1deg	[env.py: 1019]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:28:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.0ms, total=131.1ms	[env.py: 1075]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.294, -0.244, -0.035)	[env.py: 1079]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.0 deg	[env.py: 1082]
-05/08 23:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
-05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:28:38 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:28:38 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:28:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:28:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:28:38 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:28:38 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:28:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:28:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:28:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.21s (batch: 3.89s, save: 10.32s)	[pipeline.py: 300]
-05/08 23:28:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:28:39 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.493[m] 84.470[deg]	[grasp_sample.py: 539]
-05/08 23:28:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:28:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.41s:
-  episode_total: mean=180.34s, total=180.34s, count=1, min=180340.0ms, max=180340.0ms
-  sensor_polling: mean=444.5ms, total=133.34s, count=300, min=385.5ms, max=687.3ms
-  save_trajectories: mean=10.32s, total=10.32s, count=1, min=10322.0ms, max=10322.0ms
-  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.7ms, max=44.6ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3888.1ms, max=3888.1ms
-  task_sampling: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
-  task_specific_sample: mean=408.0ms, total=408.0ms, count=1, min=408.0ms, max=408.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=516.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:28:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:28:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:28:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:28:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:28:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.73s (batch: 4.09s, save: 10.64s)	[pipeline.py: 300]
-05/08 23:28:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:28:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:28:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:28:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:28:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:28:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:28:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007592m	[env.py: 870]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:28:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99399843 -0.12162489  0.00759168] yaw=157.1deg	[env.py: 1019]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85920235  0.69934236  0.00759168] yaw=-172.8deg	[env.py: 1019]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1390359   1.08901174  0.00759168] yaw=-137.7deg	[env.py: 1019]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:28:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.2ms, total=103.2ms	[env.py: 1075]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, -0.122, 0.008)	[env.py: 1079]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg	[env.py: 1082]
-05/08 23:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:28:41 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:28:41 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:28:41 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.69s:
-  episode_total: mean=181.79s, total=181.79s, count=1, min=181794.8ms, max=181794.8ms
-  sensor_polling: mean=446.3ms, total=133.90s, count=300, min=395.5ms, max=708.7ms
-  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10635.3ms, max=10635.3ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=16.7ms, max=61.3ms
-  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4092.0ms, max=4092.0ms
-  task_sampling: mean=690.0ms, total=690.0ms, count=1, min=690.0ms, max=690.0ms
-  task_specific_sample: mean=686.0ms, total=686.0ms, count=1, min=686.0ms, max=686.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=431.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:28:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:28:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:28:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:28:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:28:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:28:43 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.632[m] 88.314[deg]	[grasp_sample.py: 539]
-05/08 23:28:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:28:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:28:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:28:43 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:28:43 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:28:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:28:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011112m	[env.py: 870]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:28:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81502826  0.43851255 -0.0111124 ] yaw=-184.0deg	[env.py: 1019]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:28:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04247256  0.28902088 -0.0111124 ] yaw=163.8deg	[env.py: 1019]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97731081  0.81878951 -0.0111124 ] yaw=-156.3deg	[env.py: 1019]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:28:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.5ms, total=92.5ms	[env.py: 1075]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.439, -0.011)	[env.py: 1079]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.0 deg	[env.py: 1082]
-05/08 23:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
-05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:28:43 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:28:43 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:28:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:28:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:28:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:28:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:28:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:28:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:28:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:28:44 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.680[m] 99.600[deg]	[grasp_sample.py: 539]
-05/08 23:28:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:28:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:28:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:29:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:29:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:29:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:29:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:29:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:29:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:29:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:29:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:29:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:29:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:30:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:30:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:30:56 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:31:00 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:31:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:31:08 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:31:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:31:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:31:17 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/08 23:31:20 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:31:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:31:20 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/08 23:31:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:31:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:31:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.93s (batch: 3.84s, save: 9.09s)	[pipeline.py: 300]
-05/08 23:31:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:31:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:31:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:31:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:31:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:31:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:31:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.53s:
-  episode_total: mean=175.00s, total=175.00s, count=1, min=175004.6ms, max=175004.6ms
-  sensor_polling: mean=443.1ms, total=129.81s, count=293, min=388.7ms, max=729.9ms
-  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9091.0ms, max=9091.0ms
-  physics_step: mean=22.2ms, total=6.49s, count=293, min=15.7ms, max=48.7ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3838.3ms, max=3838.3ms
-  task_sampling: mean=534.6ms, total=534.6ms, count=1, min=534.6ms, max=534.6ms
-  task_specific_sample: mean=530.6ms, total=530.6ms, count=1, min=530.6ms, max=530.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=442.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:31:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:31:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:31:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006124m	[env.py: 870]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:31:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94811438  0.33861566 -0.00612417] yaw=167.3deg	[env.py: 1019]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81479547  0.35583442 -0.00612417] yaw=179.2deg	[env.py: 1019]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01021536  0.56024963 -0.00612417] yaw=-167.6deg	[env.py: 1019]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.8ms, total=178.9ms	[env.py: 1075]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.339, -0.006)	[env.py: 1079]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg	[env.py: 1082]
-05/08 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
-05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:31:32 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:31:32 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:31:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:31:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:31:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:31:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:31:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:31:33 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.539[m] 95.709[deg]	[grasp_sample.py: 539]
-05/08 23:31:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:31:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:31:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:31:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:31:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:31:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.55s (batch: 3.42s, save: 11.13s)	[pipeline.py: 300]
-05/08 23:31:35 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
-  episode_total: mean=177.72s, total=177.72s, count=1, min=177718.8ms, max=177718.8ms
-  sensor_polling: mean=449.9ms, total=131.83s, count=293, min=400.0ms, max=745.5ms
-  save_trajectories: mean=11.13s, total=11.13s, count=1, min=11128.6ms, max=11128.6ms
-  physics_step: mean=21.4ms, total=6.26s, count=293, min=13.7ms, max=57.4ms
-  save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3422.8ms, max=3422.8ms
-  task_sampling: mean=432.8ms, total=432.8ms, count=1, min=432.8ms, max=432.8ms
-  task_specific_sample: mean=428.3ms, total=428.3ms, count=1, min=428.3ms, max=428.3ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=565.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:31:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:31:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:31:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:31:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:31:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:31:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:31:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015911m	[env.py: 870]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:31:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99609464  0.68274062 -0.01591086] yaw=-162.5deg	[env.py: 1019]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07900973 -0.00894184 -0.01591086] yaw=143.0deg	[env.py: 1019]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.23183385 -0.3093407  -0.01591086] yaw=135.2deg	[env.py: 1019]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:31:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.5ms, total=108.5ms	[env.py: 1075]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.683, -0.016)	[env.py: 1079]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.5 deg	[env.py: 1082]
-05/08 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
-05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:31:37 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:31:37 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:31:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:31:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:31:38 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:31:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:31:38 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.480[m] 85.092[deg]	[grasp_sample.py: 539]
-05/08 23:31:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:31:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:31:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:31:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:31:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:31:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.00s (batch: 4.53s, save: 8.47s)	[pipeline.py: 300]
-05/08 23:31:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:31:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:31:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.27s (batch: 4.66s, save: 8.61s)	[pipeline.py: 300]
-05/08 23:31:44 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.37s:
-  episode_total: mean=181.02s, total=181.02s, count=1, min=181019.0ms, max=181019.0ms
-  sensor_polling: mean=447.8ms, total=134.35s, count=300, min=388.6ms, max=651.0ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8471.4ms, max=8471.4ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=13.2ms, max=55.3ms
-  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4533.4ms, max=4533.4ms
-  task_sampling: mean=366.2ms, total=366.2ms, count=1, min=366.2ms, max=366.2ms
-  task_specific_sample: mean=362.1ms, total=362.1ms, count=1, min=362.1ms, max=362.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=516.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:31:44 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.36s:
-  episode_total: mean=183.07s, total=183.07s, count=1, min=183066.9ms, max=183066.9ms
-  sensor_polling: mean=451.6ms, total=135.48s, count=300, min=387.1ms, max=783.4ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8614.5ms, max=8614.5ms
-  physics_step: mean=20.6ms, total=6.19s, count=300, min=16.9ms, max=55.5ms
-  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4659.5ms, max=4659.5ms
-  task_sampling: mean=361.4ms, total=361.4ms, count=1, min=361.4ms, max=361.4ms
-  task_specific_sample: mean=357.7ms, total=357.7ms, count=1, min=357.7ms, max=357.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=370.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:31:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:31:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:31:45 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:31:45 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:31:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029527m	[env.py: 870]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:31:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.36239695  1.05603024  0.02952669] yaw=-125.8deg	[env.py: 1019]
-05/08 23:31:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:31:45 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:31:45 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:31:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033923m	[env.py: 870]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94354492  0.46434081  0.02952669] yaw=-178.9deg	[env.py: 1019]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.32595257  1.10561443  0.02952669] yaw=-135.1deg	[env.py: 1019]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:31:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.7ms, total=163.8ms	[env.py: 1075]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.362, 1.056, 0.030)	[env.py: 1079]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.8 deg	[env.py: 1082]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10037801 -0.00917145  0.03392333] yaw=155.8deg	[env.py: 1019]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.28997854  1.22008537  0.03392333] yaw=-113.8deg	[env.py: 1019]
-05/08 23:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.36768957  1.09681569  0.03392333] yaw=-128.6deg	[env.py: 1019]
-05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:31:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.8ms, total=285.8ms	[env.py: 1075]
-05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.100, -0.009, 0.034)	[env.py: 1079]
-05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.8 deg	[env.py: 1082]
-05/08 23:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
-05/08 23:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:31:46 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:31:46 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:31:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:31:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:31:46 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:31:46 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:31:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:31:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:31:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:31:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:31:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:31:46 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.420[m] 82.002[deg]	[grasp_sample.py: 539]
-05/08 23:31:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:31:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.424s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:31:46 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.483[m] 86.860[deg]	[grasp_sample.py: 539]
-05/08 23:31:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:31:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:31:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:31:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:31:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:32:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:32:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:32:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:32:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:32:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:32:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:32:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:32:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:32:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:32:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:32:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:32:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:33:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:33:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:33:56 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:33:56 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:34:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:34:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:34:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:34:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:34:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.123s, found 320 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:34:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.167s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:34:03 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.045[m] 0.384[deg]	[grasp_sample.py: 539]
-05/08 23:34:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:34:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:34:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:34:08 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:34:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:34:17 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:34:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:34:17 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/08 23:34:17 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:34:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:34:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:34:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:34:20 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:34:28 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:34:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:34:28 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/08 23:34:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:34:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:34:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.52s (batch: 3.63s, save: 8.89s)	[pipeline.py: 300]
-05/08 23:34:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:34:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:34:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.04s (batch: 3.79s, save: 9.24s)	[pipeline.py: 300]
-05/08 23:34:30 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.50s:
-  episode_total: mean=178.22s, total=178.22s, count=1, min=178225.0ms, max=178225.0ms
-  sensor_polling: mean=444.9ms, total=133.46s, count=300, min=391.3ms, max=693.4ms
-  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8888.5ms, max=8888.5ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=16.9ms, max=78.6ms
-  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3628.3ms, max=3628.3ms
-  task_sampling: mean=499.5ms, total=499.5ms, count=1, min=499.5ms, max=499.5ms
-  task_specific_sample: mean=491.6ms, total=491.6ms, count=1, min=491.6ms, max=491.6ms
-  scene_randomize: mean=6.5ms, total=6.5ms, count=1, min=6.5ms, max=6.5ms
-  mj_forward_sync: mean=444.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:34:31 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.35s:
-  episode_total: mean=173.61s, total=173.61s, count=1, min=173614.8ms, max=173614.8ms
-  sensor_polling: mean=442.1ms, total=129.08s, count=292, min=384.7ms, max=729.7ms
-  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9244.0ms, max=9244.0ms
-  physics_step: mean=21.5ms, total=6.29s, count=292, min=13.8ms, max=99.3ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3792.0ms, max=3792.0ms
-  task_sampling: mean=347.8ms, total=347.8ms, count=1, min=347.8ms, max=347.8ms
-  task_specific_sample: mean=344.5ms, total=344.5ms, count=1, min=344.5ms, max=344.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=368.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:34:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:34:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:34:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:34:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:34:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:34:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044522m	[env.py: 870]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:34:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11981396  0.81512304 -0.04452214] yaw=-161.1deg	[env.py: 1019]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02285363  0.08683319 -0.04452214] yaw=162.0deg	[env.py: 1019]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15985773  0.77254821 -0.04452214] yaw=-152.5deg	[env.py: 1019]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:34:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.9ms, total=110.9ms	[env.py: 1075]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 0.815, -0.045)	[env.py: 1079]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:32 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:34:32 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:34:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:34:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:34:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:34:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:34:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:34:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:34:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:34:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048206m	[env.py: 870]
-05/08 23:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:34:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:34:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.103s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94260657  0.4823295  -0.04820647] yaw=-168.5deg	[env.py: 1019]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89470138  0.07743397 -0.04820647] yaw=169.7deg	[env.py: 1019]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.20805517 -0.25429651 -0.04820647] yaw=142.0deg	[env.py: 1019]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:34:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.9ms, total=264.9ms	[env.py: 1075]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.482, -0.048)	[env.py: 1079]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg	[env.py: 1082]
-05/08 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
-05/08 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:33 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:34:33 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:34:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:34:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:34:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:34:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.145s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:34:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.814s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:34:33 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.418[m] 79.402[deg]	[grasp_sample.py: 539]
-05/08 23:34:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:34:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:34:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:34:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.683s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:34:34 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.517[m] 89.476[deg]	[grasp_sample.py: 539]
-05/08 23:34:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:34:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:34:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:34:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:34:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:34:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.08s (batch: 4.54s, save: 9.54s)	[pipeline.py: 300]
-05/08 23:34:43 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.54s:
-  episode_total: mean=177.34s, total=177.34s, count=1, min=177344.0ms, max=177344.0ms
-  sensor_polling: mean=451.7ms, total=131.91s, count=292, min=401.7ms, max=677.8ms
-  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9543.9ms, max=9543.9ms
-  physics_step: mean=21.0ms, total=6.12s, count=292, min=13.5ms, max=44.3ms
-  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4535.1ms, max=4535.1ms
-  task_sampling: mean=535.3ms, total=535.3ms, count=1, min=535.3ms, max=535.3ms
-  task_specific_sample: mean=531.1ms, total=531.1ms, count=1, min=531.1ms, max=531.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=527.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:34:44 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:34:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:34:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:34:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:34:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:34:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:44 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:34:44 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:34:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:34:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005965m	[env.py: 870]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:34:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.23568326 -0.28735185 -0.00596545] yaw=135.9deg	[env.py: 1019]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10276038  0.10320721 -0.00596545] yaw=149.4deg	[env.py: 1019]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12197494  1.12436068 -0.00596545] yaw=-127.5deg	[env.py: 1019]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:34:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.2ms, total=78.3ms	[env.py: 1075]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.236, -0.287, -0.006)	[env.py: 1079]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.9 deg	[env.py: 1082]
-05/08 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
-05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:45 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/08 23:34:45 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:34:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:34:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:34:45 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:34:45 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:34:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.351s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:34:47 INFO: [Worker 0] Feasible grasp found 307 (originally 113): w/ 0.564[m] 89.208[deg]	[grasp_sample.py: 539]
-05/08 23:34:49 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/08 23:34:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:34:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:34:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:51 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:34:51 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:34:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:34:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030025m	[env.py: 870]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:34:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.20383634 -0.18639014 -0.0300246 ] yaw=124.2deg	[env.py: 1019]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85789665  0.68348167 -0.0300246 ] yaw=-172.6deg	[env.py: 1019]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99460142  0.00705492 -0.0300246 ] yaw=148.1deg	[env.py: 1019]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:34:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.4ms	[env.py: 1075]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.204, -0.186, -0.030)	[env.py: 1079]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 124.2 deg	[env.py: 1082]
-05/08 23:34:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
-05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:51 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/08 23:34:51 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:34:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:34:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:34:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:34:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:34:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:34:52 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.555[m] 93.084[deg]	[grasp_sample.py: 539]
-05/08 23:34:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:34:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:34:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:34:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:34:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:34:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.86s (batch: 4.21s, save: 8.65s)	[pipeline.py: 300]
-05/08 23:34:57 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
-  episode_total: mean=192.14s, total=192.14s, count=1, min=192143.3ms, max=192143.3ms
-  sensor_polling: mean=446.8ms, total=134.04s, count=300, min=367.9ms, max=756.6ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8653.2ms, max=8653.2ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=13.5ms, max=57.0ms
-  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4210.7ms, max=4210.7ms
-  task_sampling: mean=488.8ms, total=488.8ms, count=1, min=488.8ms, max=488.8ms
-  task_specific_sample: mean=485.3ms, total=485.3ms, count=1, min=485.3ms, max=485.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:34:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:34:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:34:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:34:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:34:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:34:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027477m	[env.py: 870]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:34:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05264665 -0.02301846 -0.02747716] yaw=142.5deg	[env.py: 1019]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07060648  0.41863339 -0.02747716] yaw=172.7deg	[env.py: 1019]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12879135  0.22720181 -0.02747716] yaw=172.9deg	[env.py: 1019]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:34:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.8ms, total=305.8ms	[env.py: 1075]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.053, -0.023, -0.027)	[env.py: 1079]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.5 deg	[env.py: 1082]
-05/08 23:34:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
-05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:34:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:34:59 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/08 23:34:59 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:35:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:35:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:35:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:35:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.124s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:35:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.076s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:35:04 INFO: [Worker 0] Feasible grasp found 347 (originally 153): w/ 0.589[m] 96.912[deg]	[grasp_sample.py: 539]
-05/08 23:35:06 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/08 23:35:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:35:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:35:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:35:08 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:35:08 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:35:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:35:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016594m	[env.py: 870]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:35:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94558263  0.45241642  0.01659358] yaw=-182.9deg	[env.py: 1019]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15962385  0.01260044  0.01659358] yaw=155.9deg	[env.py: 1019]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.27990834 -0.34575293  0.01659358] yaw=113.9deg	[env.py: 1019]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:35:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=416.6ms, total=416.6ms	[env.py: 1075]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.452, 0.017)	[env.py: 1079]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg	[env.py: 1082]
-05/08 23:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
-05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:35:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:35:08 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:35:08 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:35:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:35:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:35:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:35:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:35:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.988s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:35:09 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.456[m] 83.830[deg]	[grasp_sample.py: 539]
-05/08 23:35:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:35:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:35:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:35:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:35:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:35:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:35:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:35:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:35:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:35:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:35:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:35:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:36:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:36:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:36:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:36:47 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:36:57 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:37:05 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:37:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:37:05 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
-05/08 23:37:11 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:37:15 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:37:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:37:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:37:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:37:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:37:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.52s (batch: 3.52s, save: 7.00s)	[pipeline.py: 300]
-05/08 23:37:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
-  episode_total: mean=163.69s, total=163.69s, count=1, min=163687.5ms, max=163687.5ms
-  sensor_polling: mean=445.5ms, total=124.30s, count=279, min=386.6ms, max=755.8ms
-  save_trajectories: mean=7.00s, total=7.00s, count=1, min=6998.6ms, max=6998.6ms
-  physics_step: mean=22.0ms, total=6.15s, count=279, min=16.5ms, max=56.0ms
-  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3523.9ms, max=3523.9ms
-  task_sampling: mean=435.5ms, total=435.5ms, count=1, min=435.5ms, max=435.5ms
-  task_specific_sample: mean=427.8ms, total=427.8ms, count=1, min=427.8ms, max=427.8ms
-  scene_randomize: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms
-  mj_forward_sync: mean=470.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:37:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:37:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:37:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:37:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:37:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025700m	[env.py: 870]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.240143   -0.19466173  0.02570045] yaw=130.5deg	[env.py: 1019]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94980852  0.89820608  0.02570045] yaw=-161.9deg	[env.py: 1019]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94191961  0.90075494  0.02570045] yaw=-147.3deg	[env.py: 1019]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:37:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.8ms, total=104.8ms	[env.py: 1075]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.240, -0.195, 0.026)	[env.py: 1079]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 130.5 deg	[env.py: 1082]
-05/08 23:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
-05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:37:17 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:37:17 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:37:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:37:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:37:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:37:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:37:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.373s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:37:19 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.546[m] 102.197[deg]	[grasp_sample.py: 539]
-05/08 23:37:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:37:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:37:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:37:24 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:37:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:37:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:37:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.04s (batch: 3.79s, save: 8.26s)	[pipeline.py: 300]
-05/08 23:37:28 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.54s:
-  episode_total: mean=175.30s, total=175.30s, count=1, min=175304.5ms, max=175304.5ms
-  sensor_polling: mean=442.9ms, total=132.86s, count=300, min=387.3ms, max=675.1ms
-  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8256.9ms, max=8256.9ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=16.9ms, max=52.9ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.8ms, max=3785.8ms
-  task_sampling: mean=536.2ms, total=536.2ms, count=1, min=536.2ms, max=536.2ms
-  task_specific_sample: mean=532.4ms, total=532.4ms, count=1, min=532.4ms, max=532.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=441.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:37:29 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:37:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:37:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:37:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:37:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:37:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:37:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:37:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036482m	[env.py: 870]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08265624  0.47163359  0.03648163] yaw=-187.0deg	[env.py: 1019]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89751142  0.27017937  0.03648163] yaw=159.0deg	[env.py: 1019]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88506273  0.06592258  0.03648163] yaw=170.1deg	[env.py: 1019]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:37:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=63.2ms, total=63.2ms	[env.py: 1075]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.083, 0.472, 0.036)	[env.py: 1079]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.0 deg	[env.py: 1082]
-05/08 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.723m	[env.py: 1086]
-05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:37:30 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:37:30 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:37:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:37:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:37:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:37:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:37:30 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.355[m] 89.073[deg]	[grasp_sample.py: 539]
-05/08 23:37:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:37:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:37:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:37:33 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/08 23:37:33 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.70s:
-  episode_total: mean=83.72s, total=167.44s, count=2, min=5149.4ms, max=162288.6ms
-  sensor_polling: mean=432.8ms, total=129.84s, count=300, min=360.0ms, max=652.2ms
-  physics_step: mean=20.7ms, total=6.22s, count=300, min=13.5ms, max=51.6ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3799.5ms, max=3799.5ms
-  task_sampling: mean=348.0ms, total=695.9ms, count=2, min=322.8ms, max=373.1ms
-  task_specific_sample: mean=343.2ms, total=686.3ms, count=2, min=316.8ms, max=369.6ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
-  mj_forward_sync: mean=412.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:37:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:37:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:37:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:37:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:37:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:37:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:37:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023888m	[env.py: 870]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:37:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10122897  0.65234279  0.0238882 ] yaw=-152.2deg	[env.py: 1019]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.31936797 -0.29673882  0.0238882 ] yaw=123.4deg	[env.py: 1019]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13373342  1.14925598  0.0238882 ] yaw=-124.5deg	[env.py: 1019]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:37:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.3ms, total=92.3ms	[env.py: 1075]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.101, 0.652, 0.024)	[env.py: 1079]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.2 deg	[env.py: 1082]
-05/08 23:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
-05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:37:35 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/08 23:37:35 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:37:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:37:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:37:35 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:37:35 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:37:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.377s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:37:36 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.389[m] 89.149[deg]	[grasp_sample.py: 539]
-05/08 23:37:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:37:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:37:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:37:43 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:37:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:37:43 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/08 23:37:46 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/08 23:37:46 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.22s:
-  episode_total: mean=82.84s, total=165.68s, count=2, min=6893.3ms, max=158787.1ms
-  sensor_polling: mean=432.1ms, total=123.59s, count=286, min=363.4ms, max=622.2ms
-  physics_step: mean=20.6ms, total=5.90s, count=286, min=16.6ms, max=39.2ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.3ms, max=3756.3ms
-  task_sampling: mean=609.1ms, total=1.22s, count=2, min=583.9ms, max=634.3ms
-  task_specific_sample: mean=605.2ms, total=1.21s, count=2, min=579.5ms, max=630.9ms
-  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.5ms, max=3.0ms
-  mj_forward_sync: mean=530.4us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
-  policy_setup: mean=25.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:37:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:37:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:37:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:37:48 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:37:48 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:37:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:37:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046585m	[env.py: 870]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:37:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.31466818  0.94237165 -0.04658543] yaw=-132.0deg	[env.py: 1019]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.24469476 -0.13198791 -0.04658543] yaw=145.3deg	[env.py: 1019]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1343974   0.10178635 -0.04658543] yaw=159.3deg	[env.py: 1019]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:37:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=344.6ms, total=344.6ms	[env.py: 1075]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.315, 0.942, -0.047)	[env.py: 1079]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.0 deg	[env.py: 1082]
-05/08 23:37:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.712m	[env.py: 1086]
-05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:37:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:37:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/08 23:37:49 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:37:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:37:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:37:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:37:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:37:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.411s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:37:49 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.452[m] 92.593[deg]	[grasp_sample.py: 539]
-05/08 23:37:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:37:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:37:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:38:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:38:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:38:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:38:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:38:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:38:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:38:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:38:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:38:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:38:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:38:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:38:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:39:32 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:39:33 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/08 23:39:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:39:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:39:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:39:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:39:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:39:34 INFO: [Worker 0] Feasible grasp found 309 (originally 115): w/ 0.096[m] 5.944[deg]	[grasp_sample.py: 539]
-05/08 23:39:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:39:34 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:39:42 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:39:49 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:39:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:39:49 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
-05/08 23:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:39:53 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:39:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:39:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:39:57 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/08 23:39:57 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.37s:
-  episode_total: mean=159.54s, total=159.54s, count=1, min=159535.4ms, max=159535.4ms
-  sensor_polling: mean=423.8ms, total=127.14s, count=300, min=384.4ms, max=692.9ms
-  physics_step: mean=18.8ms, total=5.63s, count=300, min=16.7ms, max=30.5ms
-  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3554.6ms, max=3554.6ms
-  task_sampling: mean=365.4ms, total=365.4ms, count=1, min=365.4ms, max=365.4ms
-  task_specific_sample: mean=362.0ms, total=362.0ms, count=1, min=362.0ms, max=362.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=366.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:39:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:39:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:39:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:39:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:39:58 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:39:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:39:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001062m	[env.py: 870]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:39:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09658164e+00 -2.28200761e-01 -1.06213563e-03] yaw=141.9deg	[env.py: 1019]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96293961 -0.10264421 -0.00106214] yaw=155.6deg	[env.py: 1019]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06270696e+00  6.05167912e-02 -1.06213563e-03] yaw=149.1deg	[env.py: 1019]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.8ms, total=88.8ms	[env.py: 1075]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, -0.228, -0.001)	[env.py: 1079]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.9 deg	[env.py: 1082]
-05/08 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
-05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:39:58 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:39:58 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:39:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:39:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:39:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:39:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:39:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:39:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:39:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:39:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:39:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:40:00 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:40:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:40:00 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
-05/08 23:40:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.321s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:40:00 INFO: [Worker 0] Feasible grasp found 307 (originally 113): w/ 0.576[m] 85.255[deg]	[grasp_sample.py: 539]
-05/08 23:40:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:40:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.327s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:40:00 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.387[deg]	[grasp_sample.py: 539]
-05/08 23:40:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:40:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:40:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:40:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.65s (batch: 3.54s, save: 7.11s)	[pipeline.py: 300]
-05/08 23:40:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:40:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:40:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:01 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.33s:
-  episode_total: mean=151.38s, total=151.38s, count=1, min=151384.9ms, max=151384.9ms
-  sensor_polling: mean=426.1ms, total=113.34s, count=266, min=399.0ms, max=704.9ms
-  save_trajectories: mean=7.11s, total=7.11s, count=1, min=7109.0ms, max=7109.0ms
-  physics_step: mean=21.6ms, total=5.74s, count=266, min=13.8ms, max=30.3ms
-  save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3537.3ms, max=3537.3ms
-  task_sampling: mean=327.9ms, total=327.9ms, count=1, min=327.9ms, max=327.9ms
-  task_specific_sample: mean=324.5ms, total=324.5ms, count=1, min=324.5ms, max=324.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=364.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:40:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:40:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:40:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:40:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:40:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:40:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:40:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012815m	[env.py: 870]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:40:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8144886   0.43836087  0.01281482] yaw=-184.5deg	[env.py: 1019]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.15040549  0.72955907  0.01281482] yaw=-158.9deg	[env.py: 1019]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.26454144  0.89218424  0.01281482] yaw=-137.3deg	[env.py: 1019]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:40:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.5ms	[env.py: 1075]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.438, 0.013)	[env.py: 1079]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.5 deg	[env.py: 1082]
-05/08 23:40:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
-05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:40:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:40:03 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:40:03 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:40:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:40:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:40:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:40:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:40:03 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/08 23:40:04 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
-  episode_total: mean=148.92s, total=148.92s, count=1, min=148921.2ms, max=148921.2ms
-  sensor_polling: mean=427.8ms, total=118.08s, count=276, min=384.9ms, max=665.9ms
-  physics_step: mean=21.0ms, total=5.79s, count=276, min=14.3ms, max=31.0ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3894.4ms, max=3894.4ms
-  task_sampling: mean=409.9ms, total=409.9ms, count=1, min=409.9ms, max=409.9ms
-  task_specific_sample: mean=406.1ms, total=406.1ms, count=1, min=406.1ms, max=406.1ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=367.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:40:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:40:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:40:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:40:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:40:05 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:40:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:40:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040228m	[env.py: 870]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:40:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10470985  0.28008565  0.0402278 ] yaw=165.5deg	[env.py: 1019]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06659631  0.27577263  0.0402278 ] yaw=178.7deg	[env.py: 1019]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.28789966 -0.23971946  0.0402278 ] yaw=135.7deg	[env.py: 1019]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:40:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.4ms, total=117.5ms	[env.py: 1075]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 0.280, 0.040)	[env.py: 1079]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.5 deg	[env.py: 1082]
-05/08 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.715m	[env.py: 1086]
-05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:40:06 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/08 23:40:06 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:40:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:40:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:40:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:40:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:40:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:40:06 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.335[m] 86.238[deg]	[grasp_sample.py: 539]
-05/08 23:40:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:40:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:40:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.778s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:40:07 INFO: [Worker 0] Feasible grasp found 347 (originally 153): w/ 0.572[m] 84.426[deg]	[grasp_sample.py: 539]
-05/08 23:40:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:40:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:40:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:13 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:40:31 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:40:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:40:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:40:35 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/08 23:40:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:35 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.59s:
-  episode_total: mean=167.14s, total=167.14s, count=1, min=167138.6ms, max=167138.6ms
-  sensor_polling: mean=422.0ms, total=126.60s, count=300, min=371.6ms, max=647.6ms
-  physics_step: mean=18.9ms, total=5.66s, count=300, min=13.4ms, max=31.4ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3896.1ms, max=3896.1ms
-  task_sampling: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
-  task_specific_sample: mean=587.2ms, total=587.2ms, count=1, min=587.2ms, max=587.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=372.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:40:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:40:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:40:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:40:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:40:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:40:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:40:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043399m	[env.py: 870]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:40:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87681007  0.46112495 -0.04339865] yaw=-168.6deg	[env.py: 1019]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0097687  -0.083413   -0.04339865] yaw=143.8deg	[env.py: 1019]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00667629  0.14091886 -0.04339865] yaw=153.5deg	[env.py: 1019]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:40:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.4ms, total=190.5ms	[env.py: 1075]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.461, -0.043)	[env.py: 1079]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg	[env.py: 1082]
-05/08 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
-05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:40:37 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/08 23:40:37 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:40:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:40:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:40:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:40:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:40:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.435s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:40:39 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.608[m] 99.461[deg]	[grasp_sample.py: 539]
-05/08 23:40:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:40:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:40:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:40:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:40:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:41:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:41:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:41:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:41:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:41:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:41:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:42:16 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:42:18 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:42:22 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:42:40 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:42:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:42:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:42:40 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:42:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:42:40 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
-05/08 23:42:46 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:42:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:42:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:42:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:42:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:42:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.86s (batch: 3.64s, save: 7.22s)	[pipeline.py: 300]
-05/08 23:42:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:42:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:42:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.42s (batch: 3.78s, save: 7.64s)	[pipeline.py: 300]
-05/08 23:42:52 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.43s:
-  episode_total: mean=166.51s, total=166.51s, count=1, min=166505.2ms, max=166505.2ms
-  sensor_polling: mean=424.3ms, total=111.17s, count=262, min=394.3ms, max=666.2ms
-  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7216.8ms, max=7216.8ms
-  physics_step: mean=19.6ms, total=5.13s, count=262, min=13.6ms, max=28.7ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3644.4ms, max=3644.4ms
-  task_sampling: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
-  task_specific_sample: mean=423.1ms, total=423.1ms, count=1, min=423.1ms, max=423.1ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=368.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:42:52 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.39s:
-  episode_total: mean=173.87s, total=173.87s, count=1, min=173874.0ms, max=173874.0ms
-  sensor_polling: mean=424.4ms, total=127.31s, count=300, min=391.6ms, max=679.2ms
-  save_trajectories: mean=7.64s, total=7.64s, count=1, min=7644.8ms, max=7644.8ms
-  physics_step: mean=19.7ms, total=5.92s, count=300, min=13.7ms, max=32.8ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3775.1ms, max=3775.1ms
-  task_sampling: mean=386.2ms, total=386.2ms, count=1, min=386.2ms, max=386.2ms
-  task_specific_sample: mean=383.1ms, total=383.1ms, count=1, min=383.1ms, max=383.1ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=363.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:42:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:42:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:42:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:42:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:42:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:42:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:42:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003627m	[env.py: 870]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:42:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.30377409  1.01382977  0.00362661] yaw=-131.1deg	[env.py: 1019]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95429058  0.34157128  0.00362661] yaw=182.5deg	[env.py: 1019]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94231165  0.89546179  0.00362661] yaw=-154.2deg	[env.py: 1019]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:42:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.6ms, total=106.6ms	[env.py: 1075]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.304, 1.014, 0.004)	[env.py: 1079]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.1 deg	[env.py: 1082]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:42:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:42:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:42:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:42:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:42:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:42:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:42:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031851m	[env.py: 870]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:42:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:42:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/08 23:42:53 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91928967  0.65332035  0.03185144] yaw=-171.0deg	[env.py: 1019]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91755311  0.7263677   0.03185144] yaw=-164.6deg	[env.py: 1019]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01644873  0.87005697  0.03185144] yaw=-147.6deg	[env.py: 1019]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:42:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.1ms, total=145.2ms	[env.py: 1075]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.653, 0.032)	[env.py: 1079]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.0 deg	[env.py: 1082]
-05/08 23:42:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
-05/08 23:42:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:42:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:42:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:42:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:42:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:42:54 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:42:54 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:42:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:42:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:42:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:42:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.089s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:42:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:42:54 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.474[m] 92.363[deg]	[grasp_sample.py: 539]
-05/08 23:42:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:42:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.509s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:42:55 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.494[m] 84.928[deg]	[grasp_sample.py: 539]
-05/08 23:42:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:42:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:42:56 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/08 23:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:42:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:42:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:42:57 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:42:57 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:42:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020118m	[env.py: 870]
-05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0262633   0.83221324  0.02011836] yaw=-156.0deg	[env.py: 1019]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86772582  0.09656947  0.02011836] yaw=150.1deg	[env.py: 1019]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.21461812 -0.07459062  0.02011836] yaw=135.5deg	[env.py: 1019]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:42:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=326.2ms, total=326.3ms	[env.py: 1075]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.026, 0.832, 0.020)	[env.py: 1079]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.0 deg	[env.py: 1082]
-05/08 23:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
-05/08 23:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:42:58 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:42:58 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:42:58 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:42:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:42:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:42:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:42:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.172s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:42:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:42:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:42:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.62s (batch: 3.78s, save: 8.84s)	[pipeline.py: 300]
-05/08 23:42:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.988s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:42:59 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.527[m] 90.963[deg]	[grasp_sample.py: 539]
-05/08 23:42:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:43:00 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s:
-  episode_total: mean=177.30s, total=177.30s, count=1, min=177297.7ms, max=177297.7ms
-  sensor_polling: mean=423.6ms, total=127.07s, count=300, min=379.6ms, max=664.7ms
-  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8842.1ms, max=8842.1ms
-  physics_step: mean=20.0ms, total=6.00s, count=300, min=13.6ms, max=28.6ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3778.6ms, max=3778.6ms
-  task_sampling: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
-  task_specific_sample: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=403.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:43:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:43:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:43:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:43:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:43:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:43:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:43:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:43:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:43:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036095m	[env.py: 870]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:43:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99473698 -0.13490677  0.0360945 ] yaw=148.7deg	[env.py: 1019]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9555349  0.1209737  0.0360945] yaw=159.3deg	[env.py: 1019]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89402094  0.06939185  0.0360945 ] yaw=155.6deg	[env.py: 1019]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:43:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.9ms, total=114.0ms	[env.py: 1075]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.995, -0.135, 0.036)	[env.py: 1079]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.7 deg	[env.py: 1082]
-05/08 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:43:02 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:43:02 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:43:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.160s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:43:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:43:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:43:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.131s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:43:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.641s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:43:07 INFO: [Worker 0] Feasible grasp found 317 (originally 123): w/ 0.605[m] 87.912[deg]	[grasp_sample.py: 539]
-05/08 23:43:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:43:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:43:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:43:22 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:43:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:43:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:43:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:43:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:43:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.34s (batch: 3.92s, save: 9.42s)	[pipeline.py: 300]
-05/08 23:43:36 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.44s:
-  episode_total: mean=179.02s, total=179.02s, count=1, min=179021.4ms, max=179021.4ms
-  sensor_polling: mean=432.3ms, total=129.69s, count=300, min=369.1ms, max=659.3ms
-  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9419.2ms, max=9419.2ms
-  physics_step: mean=21.3ms, total=6.38s, count=300, min=14.0ms, max=51.9ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3916.6ms, max=3916.6ms
-  task_sampling: mean=438.3ms, total=438.3ms, count=1, min=438.3ms, max=438.3ms
-  task_specific_sample: mean=435.0ms, total=435.0ms, count=1, min=435.0ms, max=435.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:43:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:43:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:43:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:43:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:43:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:43:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:43:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049434m	[env.py: 870]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:43:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10564881e+00  1.09075664e-03  4.94342476e-02] yaw=148.3deg	[env.py: 1019]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1489635  -0.27417348  0.04943425] yaw=121.7deg	[env.py: 1019]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.14089505  1.11730603  0.04943425] yaw=-138.6deg	[env.py: 1019]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:43:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=475.8ms, total=475.9ms	[env.py: 1075]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.106, 0.001, 0.049)	[env.py: 1079]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg	[env.py: 1082]
-05/08 23:43:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
-05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:43:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:43:38 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/08 23:43:38 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:43:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:43:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:43:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:43:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.107s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:43:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.915s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:43:40 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.445[m] 86.727[deg]	[grasp_sample.py: 539]
-05/08 23:43:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:43:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:43:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:43:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:43:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:43:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:43:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:44:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:44:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:44:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:44:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:44:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:44:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:44:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:44:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:45:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:45:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:45:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:45:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:45:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:45:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.077s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:45:16 INFO: [Worker 0] Feasible grasp found 104 (originally 104): w/ 0.142[m] 3.948[deg]	[grasp_sample.py: 539]
-05/08 23:45:17 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/08 23:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:45:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:45:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:45:19 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038822m	[env.py: 870]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9314983   0.14787275 -0.03882174] yaw=173.8deg	[env.py: 1019]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02427287 -0.05211091 -0.03882174] yaw=157.2deg	[env.py: 1019]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98756046 -0.12845123 -0.03882174] yaw=135.7deg	[env.py: 1019]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.8ms, total=168.9ms	[env.py: 1075]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.931, 0.148, -0.039)	[env.py: 1079]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg	[env.py: 1082]
-05/08 23:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:45:19 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/08 23:45:19 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:45:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:45:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:45:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.849s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:45:21 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.534[m] 80.924[deg]	[grasp_sample.py: 539]
-05/08 23:45:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:45:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:45:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:45:24 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:45:34 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:45:48 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:45:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:45:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:45:54 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:45:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:45:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:45:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:46:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:46:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:46:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 3.61s, save: 8.36s)	[pipeline.py: 300]
-05/08 23:46:00 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.06s:
-  episode_total: mean=92.64s, total=185.29s, count=2, min=2259.0ms, max=183028.4ms
-  sensor_polling: mean=449.7ms, total=134.92s, count=300, min=395.2ms, max=741.7ms
-  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8356.6ms, max=8356.6ms
-  physics_step: mean=21.3ms, total=6.39s, count=300, min=16.9ms, max=62.6ms
-  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3610.9ms, max=3610.9ms
-  task_sampling: mean=532.1ms, total=1.06s, count=2, min=394.0ms, max=670.2ms
-  task_specific_sample: mean=528.6ms, total=1.06s, count=2, min=390.3ms, max=667.0ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.6ms
-  mj_forward_sync: mean=427.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:46:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:46:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:46:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:46:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:46:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:46:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:46:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042966m	[env.py: 870]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:46:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87627895  0.20119323  0.04296576] yaw=175.5deg	[env.py: 1019]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87255549  0.61849223  0.04296576] yaw=-159.3deg	[env.py: 1019]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05550531  0.75446619  0.04296576] yaw=-150.7deg	[env.py: 1019]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:46:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.7ms, total=252.8ms	[env.py: 1075]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.201, 0.043)	[env.py: 1079]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.5 deg	[env.py: 1082]
-05/08 23:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
-05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:46:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/08 23:46:02 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:46:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:46:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:46:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:46:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:46:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.240s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:46:04 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.562[m] 86.896[deg]	[grasp_sample.py: 539]
-05/08 23:46:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:46:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:46:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:46:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:46:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:46:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.67s (batch: 3.88s, save: 9.79s)	[pipeline.py: 300]
-05/08 23:46:09 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.42s:
-  episode_total: mean=187.33s, total=187.33s, count=1, min=187330.6ms, max=187330.6ms
-  sensor_polling: mean=456.4ms, total=136.92s, count=300, min=400.4ms, max=774.9ms
-  save_trajectories: mean=9.79s, total=9.79s, count=1, min=9787.5ms, max=9787.5ms
-  physics_step: mean=22.8ms, total=6.83s, count=300, min=17.0ms, max=54.3ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3879.8ms, max=3879.8ms
-  task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
-  task_specific_sample: mean=412.8ms, total=412.8ms, count=1, min=412.8ms, max=412.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=440.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:46:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:46:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:46:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:46:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:46:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:46:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:46:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019894m	[env.py: 870]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:46:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:46:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.6° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1719587   1.14347006  0.01989401] yaw=-129.8deg	[env.py: 1019]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16880262  0.74849342  0.01989401] yaw=-149.6deg	[env.py: 1019]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01770563  0.33201113  0.01989401] yaw=173.6deg	[env.py: 1019]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:46:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.6ms, total=229.7ms	[env.py: 1075]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.172, 1.143, 0.020)	[env.py: 1079]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.8 deg	[env.py: 1082]
-05/08 23:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
-05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:46:11 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/08 23:46:11 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:46:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:46:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:46:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:46:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.090s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:46:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.693s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:46:14 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.580[m] 86.572[deg]	[grasp_sample.py: 539]
-05/08 23:46:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:46:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:46:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:46:20 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:46:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:46:20 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
-05/08 23:46:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:46:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:46:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:46:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:46:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.51s (batch: 3.91s, save: 7.59s)	[pipeline.py: 300]
-05/08 23:46:32 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.78s:
-  episode_total: mean=174.42s, total=174.42s, count=1, min=174416.1ms, max=174416.1ms
-  sensor_polling: mean=447.8ms, total=127.17s, count=284, min=388.1ms, max=710.7ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7590.6ms, max=7590.6ms
-  physics_step: mean=20.9ms, total=5.93s, count=284, min=16.8ms, max=49.9ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3914.7ms, max=3914.7ms
-  task_sampling: mean=776.8ms, total=776.8ms, count=1, min=776.8ms, max=776.8ms
-  task_specific_sample: mean=773.5ms, total=773.5ms, count=1, min=773.5ms, max=773.5ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=436.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:46:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:46:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:46:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:46:34 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:46:34 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:46:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:46:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009611m	[env.py: 870]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:46:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.2683481  -0.23023846  0.00961075] yaw=128.4deg	[env.py: 1019]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14216154 -0.3089183   0.00961075] yaw=127.8deg	[env.py: 1019]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.075957    0.37200318  0.00961075] yaw=177.3deg	[env.py: 1019]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:46:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.3ms, total=73.3ms	[env.py: 1075]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.268, -0.230, 0.010)	[env.py: 1079]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.4 deg	[env.py: 1082]
-05/08 23:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
-05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:46:34 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/08 23:46:34 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:46:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:46:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:46:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:46:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:46:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:46:35 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.518[m] 89.457[deg]	[grasp_sample.py: 539]
-05/08 23:46:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:46:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:46:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:46:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:47:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:47:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:47:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:47:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:47:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:47:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:47:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:47:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:47:44 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:48:03 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:48:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:48:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:48:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:48:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:48:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.88s (batch: 3.87s, save: 9.00s)	[pipeline.py: 300]
-05/08 23:48:17 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.79s:
-  episode_total: mean=160.97s, total=321.93s, count=2, min=144287.2ms, max=177643.8ms
-  sensor_polling: mean=443.7ms, total=249.78s, count=563, min=365.9ms, max=764.4ms
-  physics_step: mean=22.5ms, total=12.68s, count=563, min=13.6ms, max=58.9ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9003.6ms, max=9003.6ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3874.1ms, max=3874.1ms
-  task_sampling: mean=397.3ms, total=794.7ms, count=2, min=389.8ms, max=404.9ms
-  task_specific_sample: mean=393.2ms, total=786.5ms, count=2, min=386.1ms, max=400.4ms
-  scene_randomize: mean=2.5ms, total=5.1ms, count=2, min=2.0ms, max=3.1ms
-  mj_forward_sync: mean=464.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:48:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:48:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:48:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:48:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:48:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:48:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:48:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042036m	[env.py: 870]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:48:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09158979  0.51411607  0.04203631] yaw=-163.6deg	[env.py: 1019]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88610422  0.21995792  0.04203631] yaw=178.6deg	[env.py: 1019]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.25923945 -0.10028839  0.04203631] yaw=132.0deg	[env.py: 1019]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:48:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=77.1ms, total=77.1ms	[env.py: 1075]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.092, 0.514, 0.042)	[env.py: 1079]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg	[env.py: 1082]
-05/08 23:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.718m	[env.py: 1086]
-05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:48:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:48:19 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:48:19 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:48:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:48:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:48:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:48:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.085s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:48:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:48:19 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.343[m] 91.953[deg]	[grasp_sample.py: 539]
-05/08 23:48:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:48:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:48:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:48:28 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:48:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:48:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:48:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:48:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:48:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:48:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:48:34 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.047[m] 0.296[deg]	[grasp_sample.py: 539]
-05/08 23:48:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:48:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:48:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:48:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:48:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:48:51 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:48:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:48:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:48:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:48:58 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:49:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:49:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:49:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:49:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.16s (batch: 3.59s, save: 7.57s)	[pipeline.py: 300]
-05/08 23:49:03 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
-  episode_total: mean=181.17s, total=181.17s, count=1, min=181172.1ms, max=181172.1ms
-  sensor_polling: mean=445.7ms, total=133.70s, count=300, min=385.8ms, max=812.9ms
-  save_trajectories: mean=7.57s, total=7.57s, count=1, min=7566.9ms, max=7566.9ms
-  physics_step: mean=23.1ms, total=6.93s, count=300, min=16.6ms, max=55.1ms
-  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3591.0ms, max=3591.0ms
-  task_sampling: mean=515.4ms, total=515.4ms, count=1, min=515.4ms, max=515.4ms
-  task_specific_sample: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=538.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:49:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:49:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:49:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:49:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:49:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:49:05 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:49:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036301m	[env.py: 870]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:49:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14636588  1.08299865 -0.03630099] yaw=-142.7deg	[env.py: 1019]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89354764  0.71486464 -0.03630099] yaw=-171.9deg	[env.py: 1019]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86583529  0.5223064  -0.03630099] yaw=-168.9deg	[env.py: 1019]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.9ms, total=83.9ms	[env.py: 1075]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.146, 1.083, -0.036)	[env.py: 1079]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
-05/08 23:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
-05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:49:05 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:49:05 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:49:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:49:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:49:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:49:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:49:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:49:06 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.604[m] 82.483[deg]	[grasp_sample.py: 539]
-05/08 23:49:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:49:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:49:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:49:07 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:49:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:49:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:49:21 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:49:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:49:21 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/08 23:49:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:49:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:49:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.67s (batch: 3.93s, save: 10.73s)	[pipeline.py: 300]
-05/08 23:49:22 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.53s:
-  episode_total: mean=191.91s, total=191.91s, count=1, min=191905.3ms, max=191905.3ms
-  sensor_polling: mean=445.4ms, total=133.61s, count=300, min=393.6ms, max=703.4ms
-  save_trajectories: mean=10.73s, total=10.73s, count=1, min=10734.4ms, max=10734.4ms
-  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.8ms, max=54.9ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3932.2ms, max=3932.2ms
-  task_sampling: mean=531.7ms, total=531.7ms, count=1, min=531.7ms, max=531.7ms
-  task_specific_sample: mean=524.0ms, total=524.0ms, count=1, min=524.0ms, max=524.0ms
-  mj_forward_sync: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:49:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:49:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:49:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:49:24 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:49:24 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:49:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:49:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037918m	[env.py: 870]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:49:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11987945  0.62192347  0.03791786] yaw=-162.7deg	[env.py: 1019]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0538246  -0.15399061  0.03791786] yaw=150.5deg	[env.py: 1019]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.20600538  1.05082829  0.03791786] yaw=-126.8deg	[env.py: 1019]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:49:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.0ms	[env.py: 1075]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 0.622, 0.038)	[env.py: 1079]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg	[env.py: 1082]
-05/08 23:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.712m	[env.py: 1086]
-05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:49:25 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/08 23:49:25 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:49:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:49:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:49:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:49:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:49:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:49:25 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.359[m] 88.616[deg]	[grasp_sample.py: 539]
-05/08 23:49:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:49:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:49:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:49:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:49:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:49:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.42s (batch: 4.29s, save: 8.13s)	[pipeline.py: 300]
-05/08 23:49:34 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.35s:
-  episode_total: mean=180.58s, total=180.58s, count=1, min=180578.5ms, max=180578.5ms
-  sensor_polling: mean=451.1ms, total=134.44s, count=298, min=385.7ms, max=827.2ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8129.1ms, max=8129.1ms
-  physics_step: mean=20.9ms, total=6.24s, count=298, min=15.7ms, max=95.0ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4294.9ms, max=4294.9ms
-  task_sampling: mean=351.1ms, total=351.1ms, count=1, min=351.1ms, max=351.1ms
-  task_specific_sample: mean=347.6ms, total=347.6ms, count=1, min=347.6ms, max=347.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=358.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:49:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:49:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:49:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:49:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:49:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:49:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:49:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040155m	[env.py: 870]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:49:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88390002  0.17474514 -0.04015482] yaw=161.9deg	[env.py: 1019]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00745614  0.72859268 -0.04015482] yaw=-148.6deg	[env.py: 1019]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08019478  0.94502553 -0.04015482] yaw=-136.1deg	[env.py: 1019]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:49:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.5ms, total=94.6ms	[env.py: 1075]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.175, -0.040)	[env.py: 1079]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg	[env.py: 1082]
-05/08 23:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
-05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:49:36 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:49:36 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:49:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:49:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:49:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:49:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:49:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:49:38 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.614[m] 93.505[deg]	[grasp_sample.py: 539]
-05/08 23:49:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:49:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:49:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:50:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:50:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:50:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:50:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:50:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:50:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:50:30 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:50:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:50:47 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:50:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:50:47 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
-05/08 23:50:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:50:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:50:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:50:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:50:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.04s (batch: 3.64s, save: 6.40s)	[pipeline.py: 300]
-05/08 23:50:58 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.32s:
-  episode_total: mean=159.76s, total=159.76s, count=1, min=159763.4ms, max=159763.4ms
-  sensor_polling: mean=456.4ms, total=120.94s, count=265, min=368.6ms, max=928.0ms
-  save_trajectories: mean=6.40s, total=6.40s, count=1, min=6397.6ms, max=6397.6ms
-  physics_step: mean=23.4ms, total=6.21s, count=265, min=14.8ms, max=54.5ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3640.0ms, max=3640.0ms
-  task_sampling: mean=321.6ms, total=321.6ms, count=1, min=321.6ms, max=321.6ms
-  task_specific_sample: mean=318.2ms, total=318.2ms, count=1, min=318.2ms, max=318.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=378.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:51:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:51:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:51:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:51:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:51:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:51:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:51:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019453m	[env.py: 870]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:51:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98970528  0.95067821  0.01945308] yaw=-157.8deg	[env.py: 1019]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09688867  0.37243831  0.01945308] yaw=180.1deg	[env.py: 1019]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97565199 -0.01730432  0.01945308] yaw=146.3deg	[env.py: 1019]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:51:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms	[env.py: 1075]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.951, 0.019)	[env.py: 1079]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.8 deg	[env.py: 1082]
-05/08 23:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
-05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:51:00 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/08 23:51:00 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:51:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:51:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:51:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:51:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:51:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.614s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:51:02 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.646[m] 101.470[deg]	[grasp_sample.py: 539]
-05/08 23:51:03 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/08 23:51:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:51:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:51:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:51:04 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:51:04 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:51:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:51:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003621m	[env.py: 870]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:51:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03588784 -0.01057061  0.00362063] yaw=154.3deg	[env.py: 1019]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00691574  0.51102176  0.00362063] yaw=-174.3deg	[env.py: 1019]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08425199  0.60265464  0.00362063] yaw=-164.4deg	[env.py: 1019]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:51:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.0ms, total=81.0ms	[env.py: 1075]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, -0.011, 0.004)	[env.py: 1079]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.3 deg	[env.py: 1082]
-05/08 23:51:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
-05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:51:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:51:04 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:51:04 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:51:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:51:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:51:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:51:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.109s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:51:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.215s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:51:08 INFO: [Worker 0] Feasible grasp found 386 (originally 192): w/ 0.501[m] 84.567[deg]	[grasp_sample.py: 539]
-05/08 23:51:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:51:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:51:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:51:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:51:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:51:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:51:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:51:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:51:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:51:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:51:18 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.237[deg]	[grasp_sample.py: 539]
-05/08 23:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:51:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:51:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:51:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:51:34 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:51:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:51:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:51:41 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:51:55 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:51:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:51:55 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
-05/08 23:51:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:52:02 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:52:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:52:06 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:52:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:52:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:52:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:52:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:52:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.07s (batch: 4.44s, save: 7.63s)	[pipeline.py: 300]
-05/08 23:52:08 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s:
-  episode_total: mean=163.82s, total=163.82s, count=1, min=163821.8ms, max=163821.8ms
-  sensor_polling: mean=445.6ms, total=119.41s, count=268, min=389.6ms, max=910.4ms
-  save_trajectories: mean=7.63s, total=7.63s, count=1, min=7627.2ms, max=7627.2ms
-  physics_step: mean=21.8ms, total=5.84s, count=268, min=15.2ms, max=71.9ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4443.1ms, max=4443.1ms
-  task_sampling: mean=421.9ms, total=421.9ms, count=1, min=421.9ms, max=421.9ms
-  task_specific_sample: mean=414.5ms, total=414.5ms, count=1, min=414.5ms, max=414.5ms
-  scene_randomize: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms
-  mj_forward_sync: mean=621.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:52:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:52:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:52:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:52:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:52:10 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:52:10 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:52:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:52:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004070m	[env.py: 870]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:52:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.30396156 -0.18054788  0.00406964] yaw=120.1deg	[env.py: 1019]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06807933  0.1050255   0.00406964] yaw=159.0deg	[env.py: 1019]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.25223271  1.07099244  0.00406964] yaw=-139.1deg	[env.py: 1019]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:52:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.4ms, total=87.4ms	[env.py: 1075]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.304, -0.181, 0.004)	[env.py: 1079]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 120.1 deg	[env.py: 1082]
-05/08 23:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:52:10 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/08 23:52:10 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:52:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:52:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:52:10 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:52:10 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:52:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:52:11 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.414[m] 78.693[deg]	[grasp_sample.py: 539]
-05/08 23:52:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:52:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:52:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:52:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:52:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:52:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 3.86s, save: 8.10s)	[pipeline.py: 300]
-05/08 23:52:19 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.35s:
-  episode_total: mean=194.11s, total=194.11s, count=1, min=194114.5ms, max=194114.5ms
-  sensor_polling: mean=457.6ms, total=137.29s, count=300, min=382.7ms, max=895.6ms
-  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8103.7ms, max=8103.7ms
-  physics_step: mean=21.4ms, total=6.42s, count=300, min=16.9ms, max=72.6ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3861.3ms, max=3861.3ms
-  task_sampling: mean=353.3ms, total=353.3ms, count=1, min=353.3ms, max=353.3ms
-  task_specific_sample: mean=349.7ms, total=349.7ms, count=1, min=349.7ms, max=349.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=365.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:52:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:52:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:52:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:52:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:52:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:52:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:52:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019949m	[env.py: 870]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:52:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87496606  0.74881798  0.01994938] yaw=-163.7deg	[env.py: 1019]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0562031   0.78067991  0.01994938] yaw=-153.1deg	[env.py: 1019]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.36536199 -0.1800481   0.01994938] yaw=121.2deg	[env.py: 1019]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:52:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.8ms, total=61.8ms	[env.py: 1075]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.749, 0.020)	[env.py: 1079]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.7 deg	[env.py: 1082]
-05/08 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:52:21 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:52:21 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:52:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:52:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:52:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:52:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:52:22 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:52:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:52:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:52:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.332s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:52:25 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.602[m] 90.272[deg]	[grasp_sample.py: 539]
-05/08 23:52:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:52:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:52:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:52:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:52:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:52:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.90s (batch: 4.61s, save: 10.29s)	[pipeline.py: 300]
-05/08 23:52:37 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.39s:
-  episode_total: mean=181.49s, total=181.49s, count=1, min=181491.2ms, max=181491.2ms
-  sensor_polling: mean=449.5ms, total=134.84s, count=300, min=371.5ms, max=686.1ms
-  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10292.7ms, max=10292.7ms
-  physics_step: mean=21.0ms, total=6.31s, count=300, min=16.6ms, max=64.0ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4606.3ms, max=4606.3ms
-  task_sampling: mean=385.7ms, total=385.7ms, count=1, min=385.7ms, max=385.7ms
-  task_specific_sample: mean=382.4ms, total=382.4ms, count=1, min=382.4ms, max=382.4ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=368.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:52:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:52:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:52:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:52:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:52:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:52:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:52:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013668m	[env.py: 870]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:52:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14882825 -0.20124155  0.01366811] yaw=136.9deg	[env.py: 1019]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1380529  -0.30784017  0.01366811] yaw=123.8deg	[env.py: 1019]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:52:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.5ms	[env.py: 1075]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.149, -0.201, 0.014)	[env.py: 1079]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.9 deg	[env.py: 1082]
-05/08 23:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
-05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:52:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/08 23:52:39 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:52:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:52:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:52:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:52:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:52:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.520s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:52:41 INFO: [Worker 0] Feasible grasp found 250 (originally 56): w/ 0.536[m] 89.634[deg]	[grasp_sample.py: 539]
-05/08 23:52:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:52:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:52:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:52:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:53:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:53:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:53:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:53:32 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:53:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:53:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:53:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:53:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:53:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:53:53 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:53:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:53:53 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/08 23:54:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:54:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:54:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.18s (batch: 3.72s, save: 7.46s)	[pipeline.py: 300]
-05/08 23:54:05 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.74s:
-  episode_total: mean=91.94s, total=183.88s, count=2, min=3070.8ms, max=180810.7ms
-  sensor_polling: mean=454.7ms, total=134.14s, count=295, min=379.6ms, max=744.6ms
-  save_trajectories: mean=7.46s, total=7.46s, count=1, min=7458.8ms, max=7458.8ms
-  physics_step: mean=23.1ms, total=6.82s, count=295, min=13.6ms, max=66.0ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3720.6ms, max=3720.6ms
-  task_sampling: mean=369.6ms, total=739.2ms, count=2, min=301.0ms, max=438.2ms
-  task_specific_sample: mean=366.7ms, total=733.5ms, count=2, min=298.4ms, max=435.1ms
-  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.1ms, max=1.9ms
-  mj_forward_sync: mean=366.9us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:54:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:54:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:54:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:54:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:54:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:54:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:54:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031190m	[env.py: 870]
-05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:54:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.9° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.3992283   1.0527352   0.03118989] yaw=-117.9deg	[env.py: 1019]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8874494   0.66543875  0.03118989] yaw=-166.7deg	[env.py: 1019]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05957974  0.62011354  0.03118989] yaw=-173.0deg	[env.py: 1019]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:54:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.9ms, total=93.9ms	[env.py: 1075]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.399, 1.053, 0.031)	[env.py: 1079]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.9 deg	[env.py: 1082]
-05/08 23:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.747m	[env.py: 1086]
-05/08 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:54:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:54:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/08 23:54:07 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:54:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:54:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:54:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:54:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.099s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:54:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.608s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:54:09 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.435[m] 92.959[deg]	[grasp_sample.py: 539]
-05/08 23:54:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:54:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:54:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:54:23 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:54:43 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:54:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:54:43 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
-05/08 23:54:50 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:54:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:54:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:54:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:54:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.83s (batch: 3.56s, save: 8.27s)	[pipeline.py: 300]
-05/08 23:54:55 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.37s:
-  episode_total: mean=165.85s, total=165.85s, count=1, min=165846.6ms, max=165846.6ms
-  sensor_polling: mean=448.1ms, total=123.68s, count=276, min=392.1ms, max=717.6ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8273.7ms, max=8273.7ms
-  physics_step: mean=20.9ms, total=5.76s, count=276, min=16.8ms, max=47.2ms
-  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3557.1ms, max=3557.1ms
-  task_sampling: mean=365.7ms, total=365.7ms, count=1, min=365.7ms, max=365.7ms
-  task_specific_sample: mean=362.3ms, total=362.3ms, count=1, min=362.3ms, max=362.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:54:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:54:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:54:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:54:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:54:58 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:54:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:54:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014780m	[env.py: 870]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:54:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.21733534  0.92960196 -0.01477977] yaw=-134.8deg	[env.py: 1019]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02739922  0.1229731  -0.01477977] yaw=154.9deg	[env.py: 1019]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.020648    0.01356215 -0.01477977] yaw=151.0deg	[env.py: 1019]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:54:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.8ms, total=247.9ms	[env.py: 1075]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.217, 0.930, -0.015)	[env.py: 1079]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg	[env.py: 1082]
-05/08 23:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
-05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:54:58 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/08 23:54:58 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:54:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:54:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:54:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:54:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:54:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.990s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:54:59 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.469[m] 92.162[deg]	[grasp_sample.py: 539]
-05/08 23:54:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:55:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:55:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:55:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:55:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:55:05 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:55:14 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:55:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:55:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:55:24 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:55:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:55:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:55:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:55:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:55:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 4.13s, save: 7.85s)	[pipeline.py: 300]
-05/08 23:55:26 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.33s:
-  episode_total: mean=185.89s, total=185.89s, count=1, min=185889.5ms, max=185889.5ms
-  sensor_polling: mean=448.9ms, total=134.68s, count=300, min=384.8ms, max=810.1ms
-  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7848.1ms, max=7848.1ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=15.6ms, max=62.6ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4126.5ms, max=4126.5ms
-  task_sampling: mean=327.3ms, total=327.3ms, count=1, min=327.3ms, max=327.3ms
-  task_specific_sample: mean=323.3ms, total=323.3ms, count=1, min=323.3ms, max=323.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=442.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:55:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:55:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:55:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:55:28 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:55:28 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:55:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:55:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020946m	[env.py: 870]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:55:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93208254  0.53582927  0.02094567] yaw=-161.7deg	[env.py: 1019]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99244985  0.30269273  0.02094567] yaw=179.8deg	[env.py: 1019]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93085544  0.08314972  0.02094567] yaw=156.0deg	[env.py: 1019]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:55:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=397.7ms, total=397.7ms	[env.py: 1075]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.536, 0.021)	[env.py: 1079]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
-05/08 23:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
-05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:55:29 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/08 23:55:29 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:55:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:55:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:55:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:55:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:55:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.089s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:55:30 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.460[m] 83.981[deg]	[grasp_sample.py: 539]
-05/08 23:55:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:55:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:55:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:55:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:55:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:55:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.21s (batch: 4.52s, save: 10.69s)	[pipeline.py: 300]
-05/08 23:55:40 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.44s:
-  episode_total: mean=181.64s, total=181.64s, count=1, min=181635.9ms, max=181635.9ms
-  sensor_polling: mean=449.3ms, total=134.78s, count=300, min=384.1ms, max=756.1ms
-  save_trajectories: mean=10.69s, total=10.69s, count=1, min=10686.8ms, max=10686.8ms
-  physics_step: mean=20.9ms, total=6.28s, count=300, min=13.3ms, max=51.0ms
-  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4524.8ms, max=4524.8ms
-  task_sampling: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms
-  task_specific_sample: mean=440.9ms, total=440.9ms, count=1, min=440.9ms, max=440.9ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=366.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:55:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:55:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:55:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:55:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:55:42 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:55:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:55:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020099m	[env.py: 870]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:55:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13474932 -0.08255378  0.02009866] yaw=144.8deg	[env.py: 1019]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.5° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92530239  0.01884506  0.02009866] yaw=145.5deg	[env.py: 1019]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.33869042  1.00143954  0.02009866] yaw=-125.0deg	[env.py: 1019]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:55:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.7ms, total=114.8ms	[env.py: 1075]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, -0.083, 0.020)	[env.py: 1079]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.8 deg	[env.py: 1082]
-05/08 23:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
-05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:55:42 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/08 23:55:42 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:55:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:55:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:55:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:55:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:55:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:55:43 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.489[m] 92.831[deg]	[grasp_sample.py: 539]
-05/08 23:55:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:55:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:55:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:55:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:55:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:55:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:56:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:56:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:56:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:56:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:56:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/08 23:56:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:56:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:56:27 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:56:27 INFO: [Worker 0] Collision-checked 388 grasps in 0.099s, found 320 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:56:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.508s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:56:29 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.045[m] 0.558[deg]	[grasp_sample.py: 539]
-05/08 23:56:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:56:30 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/08 23:56:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:56:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:56:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:56:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:56:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:56:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:56:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:56:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031103m	[env.py: 870]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:56:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94880799  0.02310404  0.0311033 ] yaw=144.5deg	[env.py: 1019]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.0° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91364286  0.60254029  0.0311033 ] yaw=-173.7deg	[env.py: 1019]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9249431   0.84283154  0.0311033 ] yaw=-154.3deg	[env.py: 1019]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:56:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.1ms, total=164.1ms	[env.py: 1075]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.023, 0.031)	[env.py: 1079]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.5 deg	[env.py: 1082]
-05/08 23:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
-05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:56:32 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/08 23:56:32 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:56:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:56:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:56:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:56:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:56:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.679s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:56:35 INFO: [Worker 0] Feasible grasp found 369 (originally 175): w/ 0.550[m] 84.467[deg]	[grasp_sample.py: 539]
-05/08 23:56:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:56:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:56:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:56:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:56:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:57:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:57:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/08 23:57:24 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:57:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:57:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:57:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:57:45 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:57:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/08 23:57:45 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/08 23:57:50 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:57:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:57:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:57:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 3.77s, save: 8.63s)	[pipeline.py: 300]
-05/08 23:57:58 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.50s:
-  episode_total: mean=179.99s, total=179.99s, count=1, min=179994.6ms, max=179994.6ms
-  sensor_polling: mean=446.5ms, total=130.39s, count=292, min=377.8ms, max=662.6ms
-  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8629.9ms, max=8629.9ms
-  physics_step: mean=22.1ms, total=6.45s, count=292, min=16.9ms, max=68.0ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3772.9ms, max=3772.9ms
-  task_sampling: mean=498.9ms, total=498.9ms, count=1, min=498.9ms, max=498.9ms
-  task_specific_sample: mean=495.2ms, total=495.2ms, count=1, min=495.2ms, max=495.2ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:57:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:57:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:57:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:57:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:57:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035277m	[env.py: 870]
-05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08327289  0.90422806 -0.03527692] yaw=-139.0deg	[env.py: 1019]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.19813931  0.79428652 -0.03527692] yaw=-154.5deg	[env.py: 1019]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.13650004  1.1530075  -0.03527692] yaw=-141.7deg	[env.py: 1019]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:58:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=249.5ms, total=249.5ms	[env.py: 1075]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.083, 0.904, -0.035)	[env.py: 1079]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.0 deg	[env.py: 1082]
-05/08 23:58:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
-05/08 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:58:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:58:00 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:58:00 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:58:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:58:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:58:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:58:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:58:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.070s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:58:03 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.468[m] 80.527[deg]	[grasp_sample.py: 539]
-05/08 23:58:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:58:03 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:58:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:58:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:58:14 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:58:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/08 23:58:14 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/08 23:58:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/08 23:58:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/08 23:58:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:58:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:58:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 294 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:58:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.407s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:58:22 INFO: [Worker 0] Feasible grasp found 355 (originally 161): w/ 0.088[m] 0.909[deg]	[grasp_sample.py: 539]
-05/08 23:58:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:58:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:58:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:58:25 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:58:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/08 23:58:25 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/08 23:58:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:58:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:58:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.57s (batch: 3.78s, save: 7.79s)	[pipeline.py: 300]
-05/08 23:58:26 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.71s:
-  episode_total: mean=178.27s, total=178.27s, count=1, min=178268.0ms, max=178268.0ms
-  sensor_polling: mean=448.9ms, total=129.73s, count=289, min=386.4ms, max=788.0ms
-  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7794.6ms, max=7794.6ms
-  physics_step: mean=23.0ms, total=6.64s, count=289, min=16.8ms, max=50.7ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3776.9ms, max=3776.9ms
-  task_sampling: mean=712.0ms, total=712.0ms, count=1, min=712.0ms, max=712.0ms
-  task_specific_sample: mean=708.1ms, total=708.1ms, count=1, min=708.1ms, max=708.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=446.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:58:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:58:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:58:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:58:28 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:58:28 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:58:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:58:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037465m	[env.py: 870]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:58:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07217419  0.73740959  0.0374651 ] yaw=-150.9deg	[env.py: 1019]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.3° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.2° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03680005 -0.09537605  0.0374651 ] yaw=139.3deg	[env.py: 1019]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97353374  0.55789575  0.0374651 ] yaw=-162.9deg	[env.py: 1019]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:58:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.5ms	[env.py: 1075]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.737, 0.037)	[env.py: 1079]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg	[env.py: 1082]
-05/08 23:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
-05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:58:28 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/08 23:58:28 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:58:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:58:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:58:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:58:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:58:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:58:29 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.403[m] 85.631[deg]	[grasp_sample.py: 539]
-05/08 23:58:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:58:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:58:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:58:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:58:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:58:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:58:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.40s (batch: 3.80s, save: 9.60s)	[pipeline.py: 300]
-05/08 23:58:39 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.40s:
-  episode_total: mean=177.03s, total=177.03s, count=1, min=177030.6ms, max=177030.6ms
-  sensor_polling: mean=448.7ms, total=131.47s, count=293, min=383.9ms, max=723.9ms
-  save_trajectories: mean=9.60s, total=9.60s, count=1, min=9605.0ms, max=9605.0ms
-  physics_step: mean=20.7ms, total=6.06s, count=293, min=13.6ms, max=62.7ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3797.1ms, max=3797.1ms
-  task_sampling: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
-  task_specific_sample: mean=400.2ms, total=400.2ms, count=1, min=400.2ms, max=400.2ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=528.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:58:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:58:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:58:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:58:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:58:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:58:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:58:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:58:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033146m	[env.py: 870]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:58:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11048806  0.54795345 -0.03314599] yaw=-164.7deg	[env.py: 1019]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.7° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.8° outside wedge [-57.3°, 57.3°], rejecting...	[env.py: 969]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:58:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=285.5ms, total=285.5ms	[env.py: 1075]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.110, 0.548, -0.033)	[env.py: 1079]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg	[env.py: 1082]
-05/08 23:58:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.705m	[env.py: 1086]
-05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:58:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:58:41 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/08 23:58:41 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:58:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:58:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:58:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:58:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:58:42 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.426[m] 99.989[deg]	[grasp_sample.py: 539]
-05/08 23:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:58:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:58:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:58:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:58:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:58:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:59:00 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/08 23:59:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:59:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:59:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:59:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:59:25 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/08 23:59:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/08 23:59:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/08 23:59:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:59:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/08 23:59:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/08 23:59:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/08 23:59:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 3.86s, save: 8.53s)	[pipeline.py: 300]
-05/08 23:59:38 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.81s:
-  episode_total: mean=164.77s, total=329.54s, count=2, min=143328.2ms, max=186214.1ms
-  sensor_polling: mean=445.1ms, total=251.92s, count=566, min=375.8ms, max=744.8ms
-  physics_step: mean=21.9ms, total=12.37s, count=566, min=17.0ms, max=57.0ms
-  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8534.9ms, max=8534.9ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3863.7ms, max=3863.7ms
-  task_sampling: mean=404.0ms, total=808.1ms, count=2, min=394.4ms, max=413.7ms
-  task_specific_sample: mean=400.9ms, total=801.9ms, count=2, min=391.5ms, max=410.4ms
-  scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.2ms, max=2.0ms
-  mj_forward_sync: mean=369.2us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:59:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/08 23:59:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/08 23:59:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:59:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/08 23:59:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/08 23:59:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/08 23:59:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029184m	[env.py: 870]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/08 23:59:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92869705  0.31213159  0.02918378] yaw=174.9deg	[env.py: 1019]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97639451  0.25176193  0.02918378] yaw=161.2deg	[env.py: 1019]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0973764   0.84989898  0.02918378] yaw=-138.1deg	[env.py: 1019]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/08 23:59:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=62.6ms, total=62.6ms	[env.py: 1075]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.312, 0.029)	[env.py: 1079]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
-05/08 23:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
-05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/08 23:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/08 23:59:40 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/08 23:59:40 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
-05/08 23:59:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:59:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/08 23:59:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/08 23:59:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/08 23:59:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/08 23:59:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
-05/08 23:59:40 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.460[m] 80.671[deg]	[grasp_sample.py: 539]
-05/08 23:59:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/08 23:59:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/08 23:59:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/08 23:59:54 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1340]
-05/08 23:59:54 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1340]
-05/08 23:59:54 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1340]
-05/08 23:59:54 INFO: Received SIGTERM. Initiating graceful shutdown...	[pipeline.py: 1340]
-05/08 23:59:54 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
-05/08 23:59:54 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=False episode_total=0.33s:
-  episode_total: mean=14.51s, total=14.51s, count=1, min=14509.5ms, max=14509.5ms
-  sensor_polling: mean=475.2ms, total=11.88s, count=25, min=409.8ms, max=861.1ms
-  physics_step: mean=20.4ms, total=509.7ms, count=25, min=13.6ms, max=36.5ms
-  task_sampling: mean=331.8ms, total=331.8ms, count=1, min=331.8ms, max=331.8ms
-  task_specific_sample: mean=328.4ms, total=328.4ms, count=1, min=328.4ms, max=328.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=361.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:59:54 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
-05/08 23:59:54 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=False episode_total=0.62s:
-  episode_total: mean=73.30s, total=73.30s, count=1, min=73296.4ms, max=73296.4ms
-  sensor_polling: mean=467.8ms, total=66.42s, count=142, min=407.7ms, max=799.6ms
-  physics_step: mean=20.4ms, total=2.90s, count=142, min=15.6ms, max=53.7ms
-  task_sampling: mean=622.5ms, total=622.5ms, count=1, min=622.5ms, max=622.5ms
-  task_specific_sample: mean=618.0ms, total=618.0ms, count=1, min=618.0ms, max=618.0ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=599.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:59:54 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
-05/08 23:59:54 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=False episode_total=0.56s:
-  episode_total: mean=114.58s, total=114.58s, count=1, min=114580.6ms, max=114580.6ms
-  sensor_polling: mean=453.7ms, total=102.54s, count=226, min=384.7ms, max=753.1ms
-  physics_step: mean=22.1ms, total=4.99s, count=226, min=16.9ms, max=56.4ms
-  task_sampling: mean=557.6ms, total=557.6ms, count=1, min=557.6ms, max=557.6ms
-  task_specific_sample: mean=554.1ms, total=554.1ms, count=1, min=554.1ms, max=554.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=432.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:59:54 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
-05/08 23:59:54 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=0.42s:
-  episode_total: mean=86.17s, total=86.17s, count=1, min=86174.5ms, max=86174.5ms
-  sensor_polling: mean=464.4ms, total=78.95s, count=170, min=392.6ms, max=838.8ms
-  physics_step: mean=22.6ms, total=3.85s, count=170, min=16.1ms, max=49.2ms
-  task_sampling: mean=418.3ms, total=418.3ms, count=1, min=418.3ms, max=418.3ms
-  task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=526.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 received shutdown signal	[pipeline.py: 967]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save	[pipeline.py: 1292]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 451]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/08 23:59:55 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 18 episodes, total_time=6019.39s
-  Worker averages:
-  episode_total: mean=148.23s, total=3261.03s, count=22, min=3070.8ms, max=186214.1ms
-  sensor_polling: mean=440.6ms, total=2418.22s, count=5488, min=351.9ms, max=928.0ms
-  save_trajectories: mean=8.65s, total=129.82s, count=15, min=6397.6ms, max=11252.2ms
-  physics_step: mean=21.2ms, total=116.18s, count=5488, min=13.5ms, max=82.9ms
-  save_batch_prep: mean=3.87s, total=65.86s, count=17, min=3226.2ms, max=4659.5ms
-  task_sampling: mean=557.2ms, total=12.26s, count=22, min=301.0ms, max=3411.5ms
-  task_specific_sample: mean=422.9ms, total=9.30s, count=22, min=298.4ms, max=928.7ms
-  scene_load: mean=2.88s, total=2.88s, count=1, min=2875.7ms, max=2875.7ms
-  scene_env_create: mean=1.85s, total=1.85s, count=1, min=1848.1ms, max=1848.1ms
-  scene_compile: mean=825.2ms, total=825.2ms, count=1, min=825.2ms, max=825.2ms
-  compile_mujoco: mean=548.7ms, total=548.7ms, count=1, min=548.7ms, max=548.7ms
-  compile_xml_load: mean=213.1ms, total=213.1ms, count=1, min=213.1ms, max=213.1ms
-  scene_init: mean=159.0ms, total=159.0ms, count=1, min=159.0ms, max=159.0ms
-  compile_aux_objects: mean=48.0ms, total=48.0ms, count=1, min=48.0ms, max=48.0ms
-  compile_aux_policy_objects: mean=48.0ms, total=48.0ms, count=1, min=48.0ms, max=48.0ms
-  scene_randomize: mean=2.2ms, total=47.8ms, count=22, min=1.1ms, max=3.1ms
-  scene_asset_install: mean=43.2ms, total=43.2ms, count=1, min=43.2ms, max=43.2ms
-  asset_install_grasps: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
-  asset_install_objects: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
-  mj_forward_sync: mean=413.4us, total=9.1ms, count=22, min=0.4ms, max=0.5ms
-  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
-  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  policy_setup: mean=19.6us, total=0.4ms, count=22, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=21, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 received shutdown signal	[pipeline.py: 967]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save	[pipeline.py: 1292]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 451]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/08 23:59:55 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 19 episodes, total_time=6030.11s
-  Worker averages:
-  episode_total: mean=155.37s, total=3262.72s, count=21, min=2892.4ms, max=192143.3ms
-  sensor_polling: mean=440.6ms, total=2404.53s, count=5457, min=363.4ms, max=827.2ms
-  save_trajectories: mean=9.17s, total=146.69s, count=16, min=7590.6ms, max=10686.8ms
-  physics_step: mean=20.7ms, total=112.96s, count=5457, min=13.2ms, max=95.0ms
-  save_batch_prep: mean=3.97s, total=71.41s, count=18, min=3254.5ms, max=4606.3ms
-  task_sampling: mean=648.7ms, total=13.62s, count=21, min=319.7ms, max=4051.9ms
-  task_specific_sample: mean=483.1ms, total=10.15s, count=21, min=315.8ms, max=773.5ms
-  scene_load: mean=3.40s, total=3.40s, count=1, min=3399.4ms, max=3399.4ms
-  scene_env_create: mean=2.19s, total=2.19s, count=1, min=2192.9ms, max=2192.9ms
-  scene_compile: mean=1.11s, total=1.11s, count=1, min=1106.5ms, max=1106.5ms
-  compile_mujoco: mean=614.0ms, total=614.0ms, count=1, min=614.0ms, max=614.0ms
-  compile_xml_load: mean=415.5ms, total=415.5ms, count=1, min=415.5ms, max=415.5ms
-  scene_init: mean=60.6ms, total=60.6ms, count=1, min=60.6ms, max=60.6ms
-  scene_randomize: mean=2.3ms, total=48.9ms, count=21, min=1.0ms, max=3.0ms
-  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
-  scene_asset_install: mean=39.2ms, total=39.2ms, count=1, min=39.2ms, max=39.2ms
-  asset_install_grasps: mean=27.5ms, total=27.5ms, count=1, min=27.5ms, max=27.5ms
-  compile_robot_add: mean=15.8ms, total=15.8ms, count=1, min=15.8ms, max=15.8ms
-  mj_forward_sync: mean=444.5us, total=9.3ms, count=21, min=0.3ms, max=0.6ms
-  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=21.1us, total=0.4ms, count=21, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=20, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 received shutdown signal	[pipeline.py: 967]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save	[pipeline.py: 1292]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 received shutdown signal	[pipeline.py: 967]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 house 1 shutdown requested, skipping save	[pipeline.py: 1292]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 451]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/08 23:59:55 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 19 episodes, total_time=6039.55s
-  Worker averages:
-  episode_total: mean=171.83s, total=3264.80s, count=19, min=114580.6ms, max=191905.3ms
-  sensor_polling: mean=441.3ms, total=2398.72s, count=5436, min=362.4ms, max=910.4ms
-  save_trajectories: mean=9.11s, total=163.95s, count=18, min=7109.0ms, max=11128.6ms
-  physics_step: mean=21.4ms, total=116.51s, count=5436, min=13.6ms, max=99.3ms
-  save_batch_prep: mean=3.84s, total=69.07s, count=18, min=3237.3ms, max=4462.3ms
-  task_sampling: mean=598.1ms, total=11.36s, count=19, min=327.9ms, max=3624.4ms
-  task_specific_sample: mean=440.1ms, total=8.36s, count=19, min=324.5ms, max=696.7ms
-  scene_load: mean=2.93s, total=2.93s, count=1, min=2925.5ms, max=2925.5ms
-  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2043.7ms, max=2043.7ms
-  scene_compile: mean=782.9ms, total=782.9ms, count=1, min=782.9ms, max=782.9ms
-  compile_mujoco: mean=482.2ms, total=482.2ms, count=1, min=482.2ms, max=482.2ms
-  compile_xml_load: mean=236.9ms, total=236.9ms, count=1, min=236.9ms, max=236.9ms
-  scene_init: mean=59.9ms, total=59.9ms, count=1, min=59.9ms, max=59.9ms
-  scene_randomize: mean=2.6ms, total=48.5ms, count=19, min=1.0ms, max=5.9ms
-  compile_aux_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  compile_aux_policy_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  scene_asset_install: mean=38.7ms, total=38.7ms, count=1, min=38.7ms, max=38.7ms
-  asset_install_grasps: mean=28.0ms, total=28.0ms, count=1, min=28.0ms, max=28.0ms
-  mj_forward_sync: mean=646.6us, total=12.3ms, count=19, min=0.4ms, max=4.6ms
-  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
-  compile_robot_add: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
-  asset_install_scene: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  policy_setup: mean=20.9us, total=0.4ms, count=19, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=18, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 received shutdown signal, cleaning up...	[pipeline.py: 451]
-05/08 23:59:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/08 23:59:55 INFO: [Worker 0] [PROFILE] Worker complete: 0 houses, 18 episodes, total_time=6021.24s
-  Worker averages:
-  episode_total: mean=163.23s, total=3264.58s, count=20, min=2259.0ms, max=194114.5ms
-  sensor_polling: mean=441.2ms, total=2417.38s, count=5479, min=357.5ms, max=895.6ms
-  save_trajectories: mean=8.17s, total=130.80s, count=16, min=6998.6ms, max=10099.7ms
-  physics_step: mean=21.2ms, total=116.14s, count=5479, min=13.5ms, max=78.6ms
-  save_batch_prep: mean=3.74s, total=63.62s, count=17, min=3218.5ms, max=4333.1ms
-  task_sampling: mean=607.9ms, total=12.16s, count=20, min=305.0ms, max=3941.9ms
-  task_specific_sample: mean=438.4ms, total=8.77s, count=20, min=302.2ms, max=708.1ms
-  scene_load: mean=3.31s, total=3.31s, count=1, min=3310.0ms, max=3310.0ms
-  scene_env_create: mean=2.13s, total=2.13s, count=1, min=2127.2ms, max=2127.2ms
-  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.2ms, max=1043.2ms
-  compile_mujoco: mean=750.4ms, total=750.4ms, count=1, min=750.4ms, max=750.4ms
-  compile_xml_load: mean=214.8ms, total=214.8ms, count=1, min=214.8ms, max=214.8ms
-  scene_init: mean=101.1ms, total=101.1ms, count=1, min=101.1ms, max=101.1ms
-  scene_randomize: mean=2.7ms, total=54.0ms, count=20, min=1.2ms, max=6.5ms
-  compile_aux_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  compile_aux_policy_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  scene_asset_install: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
-  asset_install_grasps: mean=27.2ms, total=27.2ms, count=1, min=27.2ms, max=27.2ms
-  compile_robot_add: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
-  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
-  mj_forward_sync: mean=431.6us, total=8.6ms, count=20, min=0.4ms, max=0.5ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=21.1us, total=0.4ms, count=20, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=19, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/08 23:59:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/08 23:59:58 INFO: Success count: 18, Total count: 19	[pipeline.py: 1491]
-05/08 23:59:58 INFO: Success rate: 94.74%	[pipeline.py: 1492]
-05/08 23:59:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/08 23:59:58 INFO: Success count: 18, Total count: 19	[pipeline.py: 1491]
-05/08 23:59:58 INFO: Success rate: 94.74%	[pipeline.py: 1492]
-05/08 23:59:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/08 23:59:58 INFO: Success count: 17, Total count: 18	[pipeline.py: 1491]
-05/08 23:59:58 INFO: Success rate: 94.44%	[pipeline.py: 1492]
-05/08 23:59:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/08 23:59:58 INFO: Success count: 17, Total count: 18	[pipeline.py: 1491]
-05/08 23:59:58 INFO: Success rate: 94.44%	[pipeline.py: 1492]
-05/09 00:00:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/09 00:00:36 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/09 00:00:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/09 00:00:36 INFO: {'batch_num': 1,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7d17bb34da90>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge',
- 'seed': 1011,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.0),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 0,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 10,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/09 00:00:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/09 00:00:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/09 00:00:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/09 00:00:36 INFO: [Worker 0] Resuming house 1: found 16 existing trajectories in trajectories_batch_1_of_4_cam_rand.h5; new videos will start at episode_00000016	[pipeline.py: 922]
-05/09 00:00:36 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/09 00:00:36 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/09 00:00:36 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/09 00:00:36 INFO: {'batch_num': 4,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7cbb9636b150>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge',
- 'seed': 1014,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.0),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 0,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 10,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/09 00:00:36 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/09 00:00:36 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/09 00:00:36 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/09 00:00:36 INFO: [Worker 0] Resuming house 1: found 18 existing trajectories in trajectories_batch_4_of_4_cam_rand.h5; new videos will start at episode_00000018	[pipeline.py: 922]
-05/09 00:00:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/09 00:00:36 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/09 00:00:37 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/09 00:00:37 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/09 00:00:37 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/09 00:00:37 INFO: {'batch_num': 3,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x780fe3dfebd0>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge',
- 'seed': 1013,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.0),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 0,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 10,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/09 00:00:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/09 00:00:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/09 00:00:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/09 00:00:37 INFO: [Worker 0] Resuming house 1: found 16 existing trajectories in trajectories_batch_3_of_4_cam_rand.h5; new videos will start at episode_00000016	[pipeline.py: 922]
-05/09 00:00:37 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
-05/09 00:00:37 INFO: Starting house-by-house rollout of 1 houses with 10 episodes each (10 total episodes) using 1 worker processes	[pipeline.py: 1359]
-05/09 00:00:37 INFO: Evaluation configuration:	[pipeline.py: 1366]
-05/09 00:00:37 INFO: {'batch_num': 2,
- 'benchmark_path': None,
- 'camera_config': {'cameras': [{'fov': 56.74,
-                                'fov_noise_degrees': None,
-                                'is_warped': False,
-                                'mjcf_name': 'gripper/wrist_camera',
-                                'name': 'wrist_camera',
-                                'orientation_noise_degrees': None,
-                                'pos_noise_range': None,
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'robot_namespace': 'robot_0/',
-                                'skip_erosion': False,
-                                'visibility_constraints': None},
-                               {'camera_offset': [-0.3063767985191294,
-                                                  0.41898548410680353,
-                                                  0.6558403226398233],
-                                'camera_quaternion': [0.3798949547479566,
-                                                      0.29653985043683495,
-                                                      -0.501112681562358,
-                                                      -0.7187697968315937],
-                                'fov': 71.0,
-                                'is_warped': False,
-                                'lookat_noise_range': None,
-                                'lookat_offset': [0.0, 0.0, 0.08],
-                                'name': 'exo_camera_1',
-                                'orientation_noise_degrees': 5.0,
-                                'pos_noise_range': (-0.05, 0.05),
-                                'record_depth': True,
-                                'record_robot_masked_rgb': True,
-                                'record_segmentation': True,
-                                'reference_body_names': ['robot_0/fr3_link0'],
-                                'skip_erosion': False,
-                                'up_axis': 'z',
-                                'visibility_constraints': None}],
-                   'img_resolution': (1280, 720)},
- 'collision_free_pose_limit': 3,
- 'config_version': '0.1',
- 'ctrl_dt_ms': 2.0,
- 'data_split': 'train',
- 'datagen_profiler': True,
- 'end_on_success': False,
- 'environment_light_intensity': 15000.0,
- 'eval_runtime_params': {'add_custom_object': False,
-                         'custom_object_name': None,
-                         'custom_object_path': None,
-                         'episode_idx': None},
- 'filter_for_successful_trajectories': True,
- 'log_level': 'info',
- 'num_envs': 1,
- 'num_workers': 1,
- 'output_dir': PosixPath('/scr/ravenh/fridge1_minimal_wall/sim'),
- 'output_suffix': '_cam_rand',
- 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
-                   'policy_type': 'planner'},
- 'policy_dt_ms': 66.0,
- 'profile': True,
- 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x79c8fe2cc650>,
- 'robot_config': {'K_damping': None,
-                  'K_stiffness': None,
-                  'action_noise_config': {'action_scale_factor': 0.1,
-                                          'base_action_scale_factor': 0.1,
-                                          'enabled': True,
-                                          'max_base_position_noise': 0.02,
-                                          'max_base_rotation_noise': 0.05,
-                                          'max_tcp_position_noise': 0.02,
-                                          'max_tcp_rotation_noise': 0.1,
-                                          'rotation_noise_scale': 0.1},
-                  'command_mode': {'arm': 'joint_position',
-                                   'gripper': 'joint_position'},
-                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
-                  'gravcomp': True,
-                  'init_qpos': {'arm': [0,
-                                        -0.7853,
-                                        0,
-                                        -2.35619,
-                                        0,
-                                        1.57079,
-                                        0.0],
-                                'gripper': [0.00296, 0.00296]},
-                  'init_qpos_noise_range': {'arm': [0.025,
-                                                    0.05,
-                                                    0.075,
-                                                    0.1,
-                                                    0.125,
-                                                    0.15,
-                                                    0.175]},
-                  'name': 'franka_droid',
-                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
-                  'robot_namespace': 'robot_0/',
-                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
-                  'robot_xml_path': PosixPath('model.xml')},
- 'save_depth_mp4': False,
- 'scene_dataset': 'ithor_minimal_fridge',
- 'seed': 1012,
- 'shared_output_dir': True,
- 'sim_dt_ms': 2.0,
- 'task_config': {'action_dtype': 'float32',
-                 'added_objects': {},
-                 'any_inst_of_category': True,
-                 'articulation_object_name': None,
-                 'enable_rendering': True,
-                 'joint_goal_position': None,
-                 'joint_index': 0,
-                 'joint_name': None,
-                 'joint_start_position': None,
-                 'object_poses': None,
-                 'pickup_obj_goal_pose': None,
-                 'pickup_obj_name': None,
-                 'pickup_obj_start_pose': None,
-                 'place_target_name': None,
-                 'receptacle_name': None,
-                 'referral_expressions': {},
-                 'referral_expressions_priority': {},
-                 'robot_base_pose': None,
-                 'succ_pos_threshold': 0.01,
-                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
-                 'task_success_threshold': 0.15,
-                 'tracked_object_names': None,
-                 'use_sensors': True},
- 'task_config_preset': None,
- 'task_config_preset_exp': None,
- 'task_config_preset_scn': None,
- 'task_horizon': 300,
- 'task_sampler_config': {'absolute_robot_base_z': 0.86,
-                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
-                         'added_pickup_class_max_uids': None,
-                         'added_pickup_class_rank': None,
-                         'added_pickup_namespace': 'pickup/',
-                         'added_pickup_objects': None,
-                         'base_pose_sampling_radius_range': (0.7, 1.0),
-                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
-                         'check_robot_placement_visibility': True,
-                         'dataset_name': 'procthor-10k',
-                         'enable_texture_randomization': False,
-                         'episodes_per_added_pickup': 1,
-                         'fixed_joint_index': 0,
-                         'fixed_object_instance_index': [1],
-                         'house_inds': [1],
-                         'load_robot_from_file': True,
-                         'max_added_pickup_placement_attempts': 100,
-                         'max_allowed_sequential_irrecoverable_failures': 5,
-                         'max_allowed_sequential_rollout_failures': 100,
-                         'max_allowed_sequential_task_sampler_failures': 100,
-                         'max_asset_failures': 10,
-                         'max_object_placement_attempts': 200,
-                         'max_receptacle_attempts': 10,
-                         'max_reference_to_added_pickup_dist': 0.5,
-                         'max_robot_placement_attempts': 10,
-                         'max_robot_to_added_pickup_dist': 0.7,
-                         'max_robot_to_obj_dist': 0.6,
-                         'max_robot_to_target_dist': 0.6,
-                         'max_tasks': inf,
-                         'max_total_attempts_multiplier': 6,
-                         'min_object_separation': 0.05,
-                         'min_reference_to_added_pickup_dist': 0.15,
-                         'num_added_pickups': 30,
-                         'objaverse_oversampling_factor': 30,
-                         'object_placement_radius_range': (0.1, 0.8),
-                         'pickup_obj_name': None,
-                         'pickup_types': ['fridge'],
-                         'place_target_name': None,
-                         'placement_robot_height': 1.4,
-                         'placement_volume_name': None,
-                         'randomize_dynamics': False,
-                         'randomize_lighting': False,
-                         'randomize_robot_textures': False,
-                         'randomize_textures': False,
-                         'randomize_textures_all': False,
-                         'receptacle_name': None,
-                         'receptacle_types': ('ArmChair',
-                                              'Bed',
-                                              'Chair',
-                                              'CoffeeTable',
-                                              'CounterTop',
-                                              'Desk',
-                                              'DiningTable',
-                                              'Dresser',
-                                              'Shelf',
-                                              'SideTable',
-                                              'Sofa',
-                                              'Stool',
-                                              'TVStand'),
-                         'robot_object_z_offset': -1.0,
-                         'robot_object_z_offset_random_max': 0,
-                         'robot_object_z_offset_random_min': 0,
-                         'robot_placement_exclusion_threshold': 0.0,
-                         'robot_placement_radius_range': (0.3, 0.8),
-                         'robot_placement_rotation_range_rad': 0.2,
-                         'robot_safety_radius': 0.15,
-                         'samples_per_house': 10,
-                         'scene_xml_paths': None,
-                         'sim_settle_timesteps': 500,
-                         'target_initial_state_open_percentage': 0.0,
-                         'task_batch_size': 1,
-                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
-                         'verbose': False},
- 'task_type': 'open',
- 'total_batches': 4,
- 'use_filament': False,
- 'use_passive_viewer': False,
- 'use_viser': False,
- 'use_wandb': False,
- 'viewer_cam_dict': {'azimuth': 45.0,
-                     'distance': 5.0,
-                     'elevation': -30.0,
-                     'lookat': [0.0, 0.0, 0.5]},
- 'viewer_camera': None,
- 'viser_port': 8080,
- 'wandb_name': None,
- 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
-05/09 00:00:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
-05/09 00:00:37 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
-05/09 00:00:37 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
-05/09 00:00:37 INFO: [Worker 0] Resuming house 1: found 15 existing trajectories in trajectories_batch_2_of_4_cam_rand.h5; new videos will start at episode_00000015	[pipeline.py: 922]
-05/09 00:00:37 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/09 00:00:37 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
-05/09 00:00:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/09 00:00:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/09 00:00:39 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/09 00:00:39 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/09 00:00:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/09 00:00:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/09 00:00:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:00:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:00:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:00:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:00:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030351m	[env.py: 870]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:00:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/09 00:00:39 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/09 00:00:39 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/09 00:00:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:00:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:00:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:00:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:00:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009787m	[env.py: 870]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:00:39 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17538991  1.11681649  0.03035059] yaw=-138.8deg	[env.py: 1019]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03455513  0.888898    0.03035059] yaw=-139.4deg	[env.py: 1019]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07982987  0.95369036  0.00978713] yaw=-134.5deg	[env.py: 1019]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02542966  1.04742568  0.03035059] yaw=-132.7deg	[env.py: 1019]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=31.8ms, retries=227.6ms, total=259.4ms	[env.py: 1075]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.117, 0.030)	[env.py: 1079]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.8 deg	[env.py: 1082]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87616301  0.26274258  0.00978713] yaw=176.3deg	[env.py: 1019]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95748182  0.08577458  0.00978713] yaw=152.0deg	[env.py: 1019]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=53.2ms, retries=315.7ms, total=368.9ms	[env.py: 1075]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.080, 0.954, 0.010)	[env.py: 1079]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:00:40 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/09 00:00:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/09 00:00:40 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/09 00:00:40 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/09 00:00:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:00:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:00:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:00:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:00:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020509m	[env.py: 870]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:00:40 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:00:40 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge/FloorPlan1_physics.xml	[task_sampler.py: 797]
-05/09 00:00:40 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96641493  0.44563646 -0.02050902] yaw=-188.1deg	[env.py: 1019]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97943197  0.00943814 -0.02050902] yaw=153.8deg	[env.py: 1019]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:00:40 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 00:00:40 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97475474  0.51722222 -0.02050902] yaw=-169.4deg	[env.py: 1019]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=16.7ms, retries=264.3ms, total=281.0ms	[env.py: 1075]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.446, -0.021)	[env.py: 1079]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.1 deg	[env.py: 1082]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:00:40 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
-05/09 00:00:40 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
-05/09 00:00:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:00:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:00:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:00:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:00:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027546m	[env.py: 870]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:00:40 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
-05/09 00:00:40 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:00:40 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:40 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 00:00:40 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82412086  0.22801145 -0.02754579] yaw=176.8deg	[env.py: 1019]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95451308  0.11330133 -0.02754579] yaw=150.5deg	[env.py: 1019]
-05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.29116762  0.95871398 -0.02754579] yaw=-125.8deg	[env.py: 1019]
-05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:00:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=53.1ms, retries=420.0ms, total=473.1ms	[env.py: 1075]
-05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.228, -0.028)	[env.py: 1079]
-05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg	[env.py: 1082]
-05/09 00:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
-05/09 00:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:00:41 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 00:00:41 INFO: [Worker 0] Worker 0 house 1 episode 0/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:01:04 INFO: [Worker 0] Warmed up parallel IK solver in 24.448s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:01:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:01:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:01:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:01:05 INFO: [Worker 0] Warmed up parallel IK solver in 24.540s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:01:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:01:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:01:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:01:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:01:05 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.504[m] 91.493[deg]	[grasp_sample.py: 539]
-05/09 00:01:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:01:06 INFO: [Worker 0] Warmed up parallel IK solver in 25.376s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:01:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:01:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:01:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.061s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:01:06 INFO: [Worker 0] Warmed up parallel IK solver in 24.901s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:01:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:01:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:01:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:01:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:01:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:01:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.557s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:01:06 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.597[m] 92.481[deg]	[grasp_sample.py: 539]
-05/09 00:01:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:01:06 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.489[m] 86.907[deg]	[grasp_sample.py: 539]
-05/09 00:01:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:01:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:01:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:01:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:01:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:01:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:01:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.392s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:01:07 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.604[m] 86.520[deg]	[grasp_sample.py: 539]
-05/09 00:01:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:01:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:01:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:01:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:01:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:02:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:02:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:02:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:02:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:02:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:02:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:02:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:02:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:02:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:02:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:03:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 00:03:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 00:03:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:03:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:03:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:03:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.341s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:03:18 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.237[deg]	[grasp_sample.py: 539]
-05/09 00:03:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:03:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:03:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:03:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:03:27 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:03:30 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:03:31 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:03:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:03:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:03:46 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:03:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:03:46 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/09 00:03:48 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:03:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:03:48 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/09 00:03:49 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:03:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:03:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:03:58 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:03:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:03:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:03:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:03:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:03:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.36s (batch: 4.33s, save: 9.04s)	[pipeline.py: 300]
-05/09 00:04:00 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.02s:
-  episode_total: mean=203.49s, total=203.49s, count=1, min=203489.8ms, max=203489.8ms
-  sensor_polling: mean=442.2ms, total=131.32s, count=297, min=385.0ms, max=638.7ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9035.9ms, max=9035.9ms
-  physics_step: mean=22.0ms, total=6.54s, count=297, min=16.8ms, max=87.9ms
-  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4325.7ms, max=4325.7ms
-  task_sampling: mean=4.02s, total=4.02s, count=1, min=4017.5ms, max=4017.5ms
-  scene_load: mean=3.15s, total=3.15s, count=1, min=3149.8ms, max=3149.8ms
-  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2204.2ms, max=2204.2ms
-  task_specific_sample: mean=863.8ms, total=863.8ms, count=1, min=863.8ms, max=863.8ms
-  scene_compile: mean=792.6ms, total=792.6ms, count=1, min=792.6ms, max=792.6ms
-  compile_mujoco: mean=498.9ms, total=498.9ms, count=1, min=498.9ms, max=498.9ms
-  compile_xml_load: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms
-  scene_init: mean=114.8ms, total=114.8ms, count=1, min=114.8ms, max=114.8ms
-  compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
-  compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
-  scene_asset_install: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
-  asset_install_grasps: mean=27.3ms, total=27.3ms, count=1, min=27.3ms, max=27.3ms
-  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
-  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
-  mj_forward_sync: mean=641.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=101.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
-05/09 00:04:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:04:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:04:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.11s (batch: 4.27s, save: 8.84s)	[pipeline.py: 300]
-05/09 00:04:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:04:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:04:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:04:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:04:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:04:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:04:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030959m	[env.py: 870]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:04:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98127633  0.41236044 -0.0309591 ] yaw=177.5deg	[env.py: 1019]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.17204856  0.09403337 -0.0309591 ] yaw=157.9deg	[env.py: 1019]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00544062  0.65896331 -0.0309591 ] yaw=-168.1deg	[env.py: 1019]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:04:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.6ms	[env.py: 1075]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.412, -0.031)	[env.py: 1079]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg	[env.py: 1082]
-05/09 00:04:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
-05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:04:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:04:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:04:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:04:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.23s (batch: 3.72s, save: 8.51s)	[pipeline.py: 300]
-05/09 00:04:01 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 00:04:01 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:04:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:04:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:04:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:04:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:04:02 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.82s:
-  episode_total: mean=205.07s, total=205.07s, count=1, min=205068.7ms, max=205068.7ms
-  sensor_polling: mean=445.4ms, total=133.18s, count=299, min=388.9ms, max=680.1ms
-  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8835.4ms, max=8835.4ms
-  physics_step: mean=24.2ms, total=7.25s, count=299, min=16.8ms, max=56.3ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4271.3ms, max=4271.3ms
-  task_sampling: mean=3.82s, total=3.82s, count=1, min=3823.2ms, max=3823.2ms
-  scene_load: mean=3.26s, total=3.26s, count=1, min=3264.5ms, max=3264.5ms
-  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2173.1ms, max=2173.1ms
-  scene_compile: mean=916.1ms, total=916.1ms, count=1, min=916.1ms, max=916.1ms
-  compile_mujoco: mean=652.3ms, total=652.3ms, count=1, min=652.3ms, max=652.3ms
-  task_specific_sample: mean=555.5ms, total=555.5ms, count=1, min=555.5ms, max=555.5ms
-  compile_xml_load: mean=197.4ms, total=197.4ms, count=1, min=197.4ms, max=197.4ms
-  scene_init: mean=101.5ms, total=101.5ms, count=1, min=101.5ms, max=101.5ms
-  scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms
-  compile_aux_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
-  compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
-  asset_install_grasps: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms
-  asset_install_objects: mean=20.4ms, total=20.4ms, count=1, min=20.4ms, max=20.4ms
-  asset_install_scene: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
-  mj_forward_sync: mean=370.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:04:02 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.99s:
-  episode_total: mean=204.91s, total=204.91s, count=1, min=204905.3ms, max=204905.3ms
-  sensor_polling: mean=446.0ms, total=133.80s, count=300, min=385.3ms, max=823.9ms
-  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8510.4ms, max=8510.4ms
-  physics_step: mean=21.2ms, total=6.35s, count=300, min=16.4ms, max=61.3ms
-  task_sampling: mean=3.99s, total=3.99s, count=1, min=3989.0ms, max=3989.0ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.6ms, max=3718.6ms
-  scene_load: mean=3.27s, total=3.27s, count=1, min=3271.5ms, max=3271.5ms
-  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2139.7ms, max=2139.7ms
-  scene_compile: mean=842.7ms, total=842.7ms, count=1, min=842.7ms, max=842.7ms
-  task_specific_sample: mean=713.3ms, total=713.3ms, count=1, min=713.3ms, max=713.3ms
-  compile_mujoco: mean=563.1ms, total=563.1ms, count=1, min=563.1ms, max=563.1ms
-  scene_init: mean=248.7ms, total=248.7ms, count=1, min=248.7ms, max=248.7ms
-  compile_xml_load: mean=214.6ms, total=214.6ms, count=1, min=214.6ms, max=214.6ms
-  compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
-  compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
-  scene_asset_install: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  asset_install_grasps: mean=28.7ms, total=28.7ms, count=1, min=28.7ms, max=28.7ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=887.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
-  policy_setup: mean=38.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:04:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:04:02 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.491[m] 87.519[deg]	[grasp_sample.py: 539]
-05/09 00:04:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:04:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:04:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:04:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:04:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:04:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:04:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:04:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032732m	[env.py: 870]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14545602  0.94483665  0.03273214] yaw=-133.1deg	[env.py: 1019]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83315395  0.37456394  0.03273214] yaw=180.6deg	[env.py: 1019]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97436767  0.38994519  0.03273214] yaw=183.3deg	[env.py: 1019]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:04:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.5ms, total=69.6ms	[env.py: 1075]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.145, 0.945, 0.033)	[env.py: 1079]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:04:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:04:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:04:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:04:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:04:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009506m	[env.py: 870]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.23415254  0.9579142   0.00950568] yaw=-129.0deg	[env.py: 1019]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11739411  1.13060448  0.00950568] yaw=-142.0deg	[env.py: 1019]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92031633  0.46856405  0.00950568] yaw=-168.8deg	[env.py: 1019]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:04:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.8ms, total=130.8ms	[env.py: 1075]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.234, 0.958, 0.010)	[env.py: 1079]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.0 deg	[env.py: 1082]
-05/09 00:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:04:04 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 00:04:04 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:04:04 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 00:04:04 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:04:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:04:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:04:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:04:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:04:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.088s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:04:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:04:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.377s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:04:04 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.390[m] 80.802[deg]	[grasp_sample.py: 539]
-05/09 00:04:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:04:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:04:04 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.483[m] 88.853[deg]	[grasp_sample.py: 539]
-05/09 00:04:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:04:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:04:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:04:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:04:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:04:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:04:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:04:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.48s (batch: 3.83s, save: 8.65s)	[pipeline.py: 300]
-05/09 00:04:11 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.17s:
-  episode_total: mean=215.62s, total=215.62s, count=1, min=215619.6ms, max=215619.6ms
-  sensor_polling: mean=444.7ms, total=133.42s, count=300, min=370.1ms, max=715.5ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8647.0ms, max=8647.0ms
-  physics_step: mean=21.4ms, total=6.41s, count=300, min=14.5ms, max=64.3ms
-  task_sampling: mean=4.17s, total=4.17s, count=1, min=4172.2ms, max=4172.2ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3832.2ms, max=3832.2ms
-  scene_load: mean=3.47s, total=3.47s, count=1, min=3472.0ms, max=3472.0ms
-  scene_env_create: mean=2.31s, total=2.31s, count=1, min=2310.9ms, max=2310.9ms
-  scene_compile: mean=1.01s, total=1.01s, count=1, min=1006.6ms, max=1006.6ms
-  task_specific_sample: mean=696.0ms, total=696.0ms, count=1, min=696.0ms, max=696.0ms
-  compile_mujoco: mean=509.6ms, total=509.6ms, count=1, min=509.6ms, max=509.6ms
-  compile_xml_load: mean=422.8ms, total=422.8ms, count=1, min=422.8ms, max=422.8ms
-  scene_init: mean=113.2ms, total=113.2ms, count=1, min=113.2ms, max=113.2ms
-  compile_aux_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  compile_aux_policy_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
-  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
-  compile_robot_add: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
-  asset_install_objects: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
-  mj_forward_sync: mean=747.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=59.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
-05/09 00:04:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:04:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:04:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:04:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:04:13 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:04:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:04:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039197m	[env.py: 870]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:04:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99426168  0.65459672 -0.03919677] yaw=-164.4deg	[env.py: 1019]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8780579   0.61174208 -0.03919677] yaw=-162.6deg	[env.py: 1019]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.06658197  0.25823304 -0.03919677] yaw=156.6deg	[env.py: 1019]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:04:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=335.4ms, total=335.4ms	[env.py: 1075]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.655, -0.039)	[env.py: 1079]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg	[env.py: 1082]
-05/09 00:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
-05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:04:13 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 00:04:13 INFO: [Worker 0] Worker 0 house 1 episode 1/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:04:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:04:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:04:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:04:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:04:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.935s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:04:15 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.492[m] 89.317[deg]	[grasp_sample.py: 539]
-05/09 00:04:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:04:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:04:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:04:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:04:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:04:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:04:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:04:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:05:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:05:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:05:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:05:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:05:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:05:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:05:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:06:19 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:06:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:06:27 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:06:36 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:06:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:06:36 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
-05/09 00:06:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:06:43 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:06:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:06:43 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/09 00:06:45 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:06:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:06:45 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/09 00:06:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:06:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:06:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.16s (batch: 3.74s, save: 7.42s)	[pipeline.py: 300]
-05/09 00:06:47 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.37s:
-  episode_total: mean=164.06s, total=164.06s, count=1, min=164059.8ms, max=164059.8ms
-  sensor_polling: mean=460.4ms, total=125.69s, count=273, min=388.7ms, max=761.5ms
-  save_trajectories: mean=7.42s, total=7.42s, count=1, min=7422.2ms, max=7422.2ms
-  physics_step: mean=22.2ms, total=6.07s, count=273, min=14.9ms, max=54.3ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3738.0ms, max=3738.0ms
-  task_sampling: mean=367.2ms, total=367.2ms, count=1, min=367.2ms, max=367.2ms
-  task_specific_sample: mean=363.0ms, total=363.0ms, count=1, min=363.0ms, max=363.0ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=514.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:06:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:06:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:06:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:06:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:06:49 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:06:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:06:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048135m	[env.py: 870]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:06:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.20505914  1.01753949 -0.04813542] yaw=-133.8deg	[env.py: 1019]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98685887  0.66871631 -0.04813542] yaw=-171.9deg	[env.py: 1019]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93105166  0.62803535 -0.04813542] yaw=-173.0deg	[env.py: 1019]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:06:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.3ms, total=94.3ms	[env.py: 1075]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.205, 1.018, -0.048)	[env.py: 1079]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg	[env.py: 1082]
-05/09 00:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
-05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:06:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 00:06:49 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:06:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:06:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:06:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:06:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:06:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.438s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:06:50 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.479[m] 79.183[deg]	[grasp_sample.py: 539]
-05/09 00:06:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:06:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:06:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:06:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:06:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:06:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.65s (batch: 3.35s, save: 9.30s)	[pipeline.py: 300]
-05/09 00:06:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
-  episode_total: mean=175.77s, total=175.77s, count=1, min=175773.1ms, max=175773.1ms
-  sensor_polling: mean=453.2ms, total=133.70s, count=295, min=387.0ms, max=690.1ms
-  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9298.9ms, max=9298.9ms
-  physics_step: mean=21.9ms, total=6.45s, count=295, min=13.6ms, max=70.8ms
-  save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3353.2ms, max=3353.2ms
-  task_sampling: mean=504.4ms, total=504.4ms, count=1, min=504.4ms, max=504.4ms
-  task_specific_sample: mean=500.8ms, total=500.8ms, count=1, min=500.8ms, max=500.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=371.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:06:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:06:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:06:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.13s (batch: 3.67s, save: 9.46s)	[pipeline.py: 300]
-05/09 00:06:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:06:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:06:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:06:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:06:58 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:06:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:06:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001448m	[env.py: 870]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:06:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89112149  0.47579013  0.0014484 ] yaw=-185.9deg	[env.py: 1019]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:06:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.4ms, total=147.4ms	[env.py: 1075]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.476, 0.001)	[env.py: 1079]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.9 deg	[env.py: 1082]
-05/09 00:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
-05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:06:59 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.41s:
-  episode_total: mean=175.52s, total=175.52s, count=1, min=175523.6ms, max=175523.6ms
-  sensor_polling: mean=453.4ms, total=133.29s, count=294, min=386.3ms, max=715.0ms
-  save_trajectories: mean=9.46s, total=9.46s, count=1, min=9455.1ms, max=9455.1ms
-  physics_step: mean=21.8ms, total=6.40s, count=294, min=16.9ms, max=60.6ms
-  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3672.8ms, max=3672.8ms
-  task_sampling: mean=410.1ms, total=410.1ms, count=1, min=410.1ms, max=410.1ms
-  task_specific_sample: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=368.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:06:59 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 00:06:59 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:06:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:06:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:06:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:06:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:06:59 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:06:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:06:59 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/09 00:06:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:06:59 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.515[m] 82.713[deg]	[grasp_sample.py: 539]
-05/09 00:06:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:07:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:07:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:07:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:07:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:07:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032242m	[env.py: 870]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95407336  0.88812837  0.03224244] yaw=-143.9deg	[env.py: 1019]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94227664 -0.0061803   0.03224244] yaw=144.0deg	[env.py: 1019]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95636584  0.18278758  0.03224244] yaw=155.1deg	[env.py: 1019]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:07:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.7ms, total=74.8ms	[env.py: 1075]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 0.888, 0.032)	[env.py: 1079]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
-05/09 00:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:07:01 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 00:07:01 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:07:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:07:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:07:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:07:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.456s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:07:02 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.638[m] 94.934[deg]	[grasp_sample.py: 539]
-05/09 00:07:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:07:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:07:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:07:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:07:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:07:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.49s (batch: 3.53s, save: 7.96s)	[pipeline.py: 300]
-05/09 00:07:11 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.60s:
-  episode_total: mean=178.17s, total=178.17s, count=1, min=178172.8ms, max=178172.8ms
-  sensor_polling: mean=453.2ms, total=134.16s, count=296, min=359.1ms, max=686.4ms
-  save_trajectories: mean=7.96s, total=7.96s, count=1, min=7956.1ms, max=7956.1ms
-  physics_step: mean=22.5ms, total=6.66s, count=296, min=15.8ms, max=42.2ms
-  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3529.1ms, max=3529.1ms
-  task_sampling: mean=595.8ms, total=595.8ms, count=1, min=595.8ms, max=595.8ms
-  task_specific_sample: mean=591.8ms, total=591.8ms, count=1, min=591.8ms, max=591.8ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=483.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:07:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:07:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:07:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:07:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:07:13 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:07:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:07:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022247m	[env.py: 870]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:07:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04147937  0.52095414 -0.02224693] yaw=-178.2deg	[env.py: 1019]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.30882886  1.00088848 -0.02224693] yaw=-129.7deg	[env.py: 1019]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.12983763  0.10641478 -0.02224693] yaw=146.2deg	[env.py: 1019]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:07:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.4ms, total=122.4ms	[env.py: 1075]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.521, -0.022)	[env.py: 1079]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.2 deg	[env.py: 1082]
-05/09 00:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
-05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:07:13 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 00:07:13 INFO: [Worker 0] Worker 0 house 1 episode 2/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:07:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:07:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:07:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:07:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:07:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.415s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:07:14 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.422[m] 86.064[deg]	[grasp_sample.py: 539]
-05/09 00:07:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:07:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:07:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:07:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:07:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:07:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:07:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:07:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:07:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:08:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:08:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:08:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:08:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:08:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:08:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:09:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 00:09:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 00:09:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:09:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:09:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:09:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.642s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:09:05 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.515[deg]	[grasp_sample.py: 539]
-05/09 00:09:06 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 00:09:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:09:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:09:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:09:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:09:07 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:09:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:09:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016658m	[env.py: 870]
-05/09 00:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:09:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9405856   0.46750782 -0.01665768] yaw=-181.0deg	[env.py: 1019]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:09:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=367.7ms, total=367.7ms	[env.py: 1075]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.468, -0.017)	[env.py: 1079]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.0 deg	[env.py: 1082]
-05/09 00:09:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
-05/09 00:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:09:08 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 00:09:08 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:09:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:09:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:09:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:09:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.113s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:09:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.082s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:09:09 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.558[m] 95.969[deg]	[grasp_sample.py: 539]
-05/09 00:09:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:09:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:09:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:09:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:09:29 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:09:33 INFO: [Worker 0] Worker 0 house 1 episode 2 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:09:45 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:09:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:09:45 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/09 00:09:47 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:09:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:09:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:09:50 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:09:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:09:50 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/09 00:09:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:09:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:09:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.69s (batch: 3.90s, save: 7.79s)	[pipeline.py: 300]
-05/09 00:09:58 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.40s:
-  episode_total: mean=179.39s, total=179.39s, count=1, min=179387.8ms, max=179387.8ms
-  sensor_polling: mean=456.7ms, total=136.09s, count=298, min=388.2ms, max=855.1ms
-  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7792.1ms, max=7792.1ms
-  physics_step: mean=22.3ms, total=6.66s, count=298, min=16.8ms, max=56.9ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3902.7ms, max=3902.7ms
-  task_sampling: mean=401.0ms, total=401.0ms, count=1, min=401.0ms, max=401.0ms
-  task_specific_sample: mean=397.2ms, total=397.2ms, count=1, min=397.2ms, max=397.2ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=504.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:09:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:09:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:09:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.60s (batch: 3.87s, save: 7.73s)	[pipeline.py: 300]
-05/09 00:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:09:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:09:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:09:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:09:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043997m	[env.py: 870]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14310753  0.66454958 -0.04399677] yaw=-169.6deg	[env.py: 1019]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85955858  0.45210807 -0.04399677] yaw=-178.8deg	[env.py: 1019]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04308749  0.13164226 -0.04399677] yaw=148.0deg	[env.py: 1019]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.7ms, total=75.7ms	[env.py: 1075]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.143, 0.665, -0.044)	[env.py: 1079]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.6 deg	[env.py: 1082]
-05/09 00:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
-05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:09:59 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.32s:
-  episode_total: mean=179.27s, total=179.27s, count=1, min=179269.2ms, max=179269.2ms
-  sensor_polling: mean=455.8ms, total=136.73s, count=300, min=387.9ms, max=919.3ms
-  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7732.3ms, max=7732.3ms
-  physics_step: mean=21.9ms, total=6.58s, count=300, min=14.9ms, max=69.9ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3866.1ms, max=3866.1ms
-  task_sampling: mean=320.6ms, total=320.6ms, count=1, min=320.6ms, max=320.6ms
-  task_specific_sample: mean=316.7ms, total=316.7ms, count=1, min=316.7ms, max=316.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=453.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:10:00 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 00:10:00 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:10:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:10:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:10:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:10:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.061s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:10:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:10:00 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.415[m] 92.499[deg]	[grasp_sample.py: 539]
-05/09 00:10:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:10:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:10:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:10:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:10:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:10:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:10:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.77s (batch: 3.55s, save: 7.22s)	[pipeline.py: 300]
-05/09 00:10:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:10:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:10:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:10:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:10:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:10:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:10:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010257m	[env.py: 870]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:10:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88884788  0.3919794  -0.01025675] yaw=168.8deg	[env.py: 1019]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02176386  0.0024486  -0.01025675] yaw=141.9deg	[env.py: 1019]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07097303  0.79882549 -0.01025675] yaw=-162.2deg	[env.py: 1019]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:10:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.6ms, total=75.6ms	[env.py: 1075]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 0.392, -0.010)	[env.py: 1079]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
-05/09 00:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:10:01 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 00:10:01 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:10:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:10:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:10:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:10:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
-  episode_total: mean=168.94s, total=168.94s, count=1, min=168935.5ms, max=168935.5ms
-  sensor_polling: mean=459.9ms, total=129.24s, count=281, min=390.1ms, max=808.0ms
-  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7221.3ms, max=7221.3ms
-  physics_step: mean=22.6ms, total=6.35s, count=281, min=13.6ms, max=63.1ms
-  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3551.9ms, max=3551.9ms
-  task_sampling: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms
-  task_specific_sample: mean=445.9ms, total=445.9ms, count=1, min=445.9ms, max=445.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=358.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:10:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.509s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:10:02 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.581[m] 91.493[deg]	[grasp_sample.py: 539]
-05/09 00:10:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:10:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:10:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:10:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:10:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:10:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:10:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:10:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:10:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:10:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:10:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:10:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:10:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009531m	[env.py: 870]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:10:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94722625  0.29693462  0.00953071] yaw=164.7deg	[env.py: 1019]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.2878056   1.00334144  0.00953071] yaw=-127.7deg	[env.py: 1019]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98830716  0.4230045   0.00953071] yaw=175.0deg	[env.py: 1019]
-05/09 00:10:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:10:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.3ms, total=140.4ms	[env.py: 1075]
-05/09 00:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.297, 0.010)	[env.py: 1079]
-05/09 00:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.7 deg	[env.py: 1082]
-05/09 00:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
-05/09 00:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:10:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 00:10:04 INFO: [Worker 0] Worker 0 house 1 episode 3/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:10:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:10:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:10:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:10:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.109s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:10:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:10:04 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.515[m] 91.447[deg]	[grasp_sample.py: 539]
-05/09 00:10:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:10:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:10:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:10:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:10:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:10:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:10:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:10:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:10:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:10:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:11:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:11:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:11:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:11:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:11:32 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:11:57 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:11:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:11:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:12:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:12:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:12:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.62s (batch: 3.78s, save: 7.84s)	[pipeline.py: 300]
-05/09 00:12:09 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.99s:
-  episode_total: mean=159.52s, total=319.03s, count=2, min=136982.4ms, max=182051.2ms
-  sensor_polling: mean=448.4ms, total=249.32s, count=556, min=369.5ms, max=862.7ms
-  physics_step: mean=22.0ms, total=12.25s, count=556, min=13.6ms, max=118.0ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7841.0ms, max=7841.0ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3777.1ms, max=3777.1ms
-  task_sampling: mean=492.6ms, total=985.3ms, count=2, min=388.9ms, max=596.4ms
-  task_specific_sample: mean=489.6ms, total=979.2ms, count=2, min=385.8ms, max=593.4ms
-  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.3ms, max=2.0ms
-  mj_forward_sync: mean=407.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:12:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:12:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:12:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:12:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:12:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:12:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:12:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020320m	[env.py: 870]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:12:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91121068  0.50471555 -0.02031968] yaw=-178.1deg	[env.py: 1019]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96573144  0.39319504 -0.02031968] yaw=178.3deg	[env.py: 1019]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88674589  0.06332456 -0.02031968] yaw=149.4deg	[env.py: 1019]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:12:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.3ms, total=89.3ms	[env.py: 1075]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.911, 0.505, -0.020)	[env.py: 1079]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.1 deg	[env.py: 1082]
-05/09 00:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
-05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:12:11 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 00:12:11 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:12:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:12:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:12:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:12:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:12:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:12:12 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.582[m] 97.492[deg]	[grasp_sample.py: 539]
-05/09 00:12:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:12:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:12:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:12:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:12:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:12:33 INFO: [Worker 0] Worker 0 house 1 episode 3 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:12:37 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:12:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:12:37 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/09 00:12:46 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:12:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:12:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:12:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:12:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:12:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.10s (batch: 3.61s, save: 7.49s)	[pipeline.py: 300]
-05/09 00:12:49 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.32s:
-  episode_total: mean=169.46s, total=169.46s, count=1, min=169464.6ms, max=169464.6ms
-  sensor_polling: mean=452.2ms, total=127.06s, count=281, min=383.5ms, max=722.8ms
-  save_trajectories: mean=7.49s, total=7.49s, count=1, min=7488.7ms, max=7488.7ms
-  physics_step: mean=22.6ms, total=6.36s, count=281, min=13.6ms, max=57.3ms
-  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3611.6ms, max=3611.6ms
-  task_sampling: mean=324.5ms, total=324.5ms, count=1, min=324.5ms, max=324.5ms
-  task_specific_sample: mean=321.3ms, total=321.3ms, count=1, min=321.3ms, max=321.3ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=381.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:12:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:12:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:12:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:12:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:12:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:12:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:12:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024562m	[env.py: 870]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:12:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89822526  0.29664971 -0.0245616 ] yaw=170.4deg	[env.py: 1019]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81185689  0.35028348 -0.0245616 ] yaw=173.7deg	[env.py: 1019]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87706448  0.51612479 -0.0245616 ] yaw=-166.2deg	[env.py: 1019]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:12:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.2ms, total=73.3ms	[env.py: 1075]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.297, -0.025)	[env.py: 1079]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg	[env.py: 1082]
-05/09 00:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
-05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:12:50 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 00:12:50 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:12:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:12:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:12:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:12:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:12:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:12:51 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.585[m] 94.593[deg]	[grasp_sample.py: 539]
-05/09 00:12:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:12:51 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:12:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:12:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:12:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:12:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:12:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:12:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:12:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.52s (batch: 3.69s, save: 7.83s)	[pipeline.py: 300]
-05/09 00:12:58 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.36s:
-  episode_total: mean=177.23s, total=177.23s, count=1, min=177229.3ms, max=177229.3ms
-  sensor_polling: mean=453.1ms, total=135.92s, count=300, min=392.8ms, max=857.0ms
-  save_trajectories: mean=7.83s, total=7.83s, count=1, min=7826.8ms, max=7826.8ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=13.6ms, max=65.4ms
-  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3694.5ms, max=3694.5ms
-  task_sampling: mean=360.1ms, total=360.1ms, count=1, min=360.1ms, max=360.1ms
-  task_specific_sample: mean=356.7ms, total=356.7ms, count=1, min=356.7ms, max=356.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=371.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:13:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:13:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:13:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:13:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:13:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:13:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:13:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019830m	[env.py: 870]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:13:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93272313  0.3828838   0.01982986] yaw=167.9deg	[env.py: 1019]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02842578  0.64727135  0.01982986] yaw=-155.3deg	[env.py: 1019]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85579009  0.62174355  0.01982986] yaw=-177.8deg	[env.py: 1019]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:13:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.8ms	[env.py: 1075]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.383, 0.020)	[env.py: 1079]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.9 deg	[env.py: 1082]
-05/09 00:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
-05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:13:00 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:13:00 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:13:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:13:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:13:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:13:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:13:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:13:01 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.473[m] 84.262[deg]	[grasp_sample.py: 539]
-05/09 00:13:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:13:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:13:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:13:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:13:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:13:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.44s (batch: 3.59s, save: 7.84s)	[pipeline.py: 300]
-05/09 00:13:03 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.42s:
-  episode_total: mean=179.99s, total=179.99s, count=1, min=179990.7ms, max=179990.7ms
-  sensor_polling: mean=458.2ms, total=137.45s, count=300, min=374.4ms, max=786.0ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7842.0ms, max=7842.0ms
-  physics_step: mean=22.4ms, total=6.72s, count=300, min=13.5ms, max=54.3ms
-  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3594.5ms, max=3594.5ms
-  task_sampling: mean=423.8ms, total=423.8ms, count=1, min=423.8ms, max=423.8ms
-  task_specific_sample: mean=419.5ms, total=419.5ms, count=1, min=419.5ms, max=419.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=515.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:13:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:13:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:13:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:13:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:13:05 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:13:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:13:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030883m	[env.py: 870]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:13:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93354959  0.34993759 -0.03088339] yaw=179.4deg	[env.py: 1019]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98642861  0.52078662 -0.03088339] yaw=-172.6deg	[env.py: 1019]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13467523  0.75845422 -0.03088339] yaw=-146.1deg	[env.py: 1019]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:13:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.2ms, total=112.3ms	[env.py: 1075]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.350, -0.031)	[env.py: 1079]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg	[env.py: 1082]
-05/09 00:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
-05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:13:05 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 00:13:05 INFO: [Worker 0] Worker 0 house 1 episode 4/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:13:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:13:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:13:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:13:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:13:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:13:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:13:06 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.570[m] 97.492[deg]	[grasp_sample.py: 539]
-05/09 00:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:13:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:13:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:13:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:13:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:13:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:13:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:13:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:13:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:13:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:13:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:13:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:14:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:14:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:14:26 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:14:45 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:14:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:14:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:14:49 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 00:14:49 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.35s:
-  episode_total: mean=157.94s, total=157.94s, count=1, min=157936.7ms, max=157936.7ms
-  sensor_polling: mean=419.9ms, total=125.96s, count=300, min=360.1ms, max=781.6ms
-  physics_step: mean=19.4ms, total=5.82s, count=300, min=16.4ms, max=62.5ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3874.7ms, max=3874.7ms
-  task_sampling: mean=353.0ms, total=353.0ms, count=1, min=353.0ms, max=353.0ms
-  task_specific_sample: mean=349.0ms, total=349.0ms, count=1, min=349.0ms, max=349.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=371.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:14:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:14:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:14:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:14:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:14:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:14:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:14:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013695m	[env.py: 870]
-05/09 00:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:14:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23590694  1.11633611 -0.01369486] yaw=-128.3deg	[env.py: 1019]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9527045   0.6259481  -0.01369486] yaw=-171.7deg	[env.py: 1019]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92210555  0.3833458  -0.01369486] yaw=178.6deg	[env.py: 1019]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:14:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.2ms, total=93.2ms	[env.py: 1075]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.236, 1.116, -0.014)	[env.py: 1079]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.3 deg	[env.py: 1082]
-05/09 00:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
-05/09 00:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:14:51 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 00:14:51 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:14:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:14:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:14:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:14:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:14:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.595s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:14:54 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.564[m] 87.029[deg]	[grasp_sample.py: 539]
-05/09 00:14:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:14:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:14:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:15:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:15:11 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:15:19 INFO: [Worker 0] Worker 0 house 1 episode 4 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:15:22 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:15:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:15:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:15:25 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 00:15:26 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.36s:
-  episode_total: mean=155.41s, total=155.41s, count=1, min=155412.2ms, max=155412.2ms
-  sensor_polling: mean=414.1ms, total=124.23s, count=300, min=379.7ms, max=638.0ms
-  physics_step: mean=18.7ms, total=5.62s, count=300, min=13.5ms, max=30.0ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3877.8ms, max=3877.8ms
-  task_sampling: mean=364.3ms, total=364.3ms, count=1, min=364.3ms, max=364.3ms
-  task_specific_sample: mean=360.6ms, total=360.6ms, count=1, min=360.6ms, max=360.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=374.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:15:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:15:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:15:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:15:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:15:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:15:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:15:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032936m	[env.py: 870]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:15:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.24876002  0.97295115 -0.03293634] yaw=-137.9deg	[env.py: 1019]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98348659  0.75149288 -0.03293634] yaw=-164.5deg	[env.py: 1019]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86226098  0.20803583 -0.03293634] yaw=160.5deg	[env.py: 1019]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:15:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.7ms, total=167.8ms	[env.py: 1075]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.249, 0.973, -0.033)	[env.py: 1079]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
-05/09 00:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
-05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:15:28 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 00:15:28 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:15:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:15:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:15:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:15:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:15:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:15:28 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.420[m] 89.620[deg]	[grasp_sample.py: 539]
-05/09 00:15:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:15:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:15:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:15:29 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:15:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:15:29 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/09 00:15:33 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 00:15:34 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.40s:
-  episode_total: mean=153.85s, total=153.85s, count=1, min=153852.3ms, max=153852.3ms
-  sensor_polling: mean=419.9ms, total=121.77s, count=290, min=392.4ms, max=629.2ms
-  physics_step: mean=20.9ms, total=6.06s, count=290, min=13.3ms, max=35.4ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3952.8ms, max=3952.8ms
-  task_sampling: mean=396.8ms, total=396.8ms, count=1, min=396.8ms, max=396.8ms
-  task_specific_sample: mean=393.4ms, total=393.4ms, count=1, min=393.4ms, max=393.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=369.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:15:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:15:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:15:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:15:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:15:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:15:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:15:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044788m	[env.py: 870]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:15:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06222975  0.45020851 -0.04478835] yaw=-176.1deg	[env.py: 1019]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.20441647  0.95121439 -0.04478835] yaw=-131.3deg	[env.py: 1019]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11599224  0.15295518 -0.04478835] yaw=163.6deg	[env.py: 1019]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:15:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.8ms, total=90.9ms	[env.py: 1075]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.062, 0.450, -0.045)	[env.py: 1079]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg	[env.py: 1082]
-05/09 00:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.743m	[env.py: 1086]
-05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:15:36 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 00:15:36 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:15:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:15:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:15:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:15:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:15:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.365s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:15:36 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.377[m] 84.615[deg]	[grasp_sample.py: 539]
-05/09 00:15:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:15:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:15:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:15:37 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:15:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:15:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:15:41 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 00:15:41 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.36s:
-  episode_total: mean=155.88s, total=155.88s, count=1, min=155877.6ms, max=155877.6ms
-  sensor_polling: mean=416.7ms, total=125.02s, count=300, min=386.0ms, max=659.2ms
-  physics_step: mean=18.8ms, total=5.65s, count=300, min=13.4ms, max=29.4ms
-  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3713.1ms, max=3713.1ms
-  task_sampling: mean=364.3ms, total=364.3ms, count=1, min=364.3ms, max=364.3ms
-  task_specific_sample: mean=360.9ms, total=360.9ms, count=1, min=360.9ms, max=360.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=361.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:15:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:15:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:15:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:15:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:15:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:15:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:15:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:15:42 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:15:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:15:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021094m	[env.py: 870]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:15:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94464499  0.49013966  0.02109354] yaw=-179.4deg	[env.py: 1019]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:15:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:15:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.4ms	[env.py: 1075]
-05/09 00:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.490, 0.021)	[env.py: 1079]
-05/09 00:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.4 deg	[env.py: 1082]
-05/09 00:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
-05/09 00:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:15:43 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:15:43 INFO: [Worker 0] Worker 0 house 1 episode 5/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:15:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:15:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:15:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:15:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:15:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:15:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:15:43 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.521[m] 92.947[deg]	[grasp_sample.py: 539]
-05/09 00:15:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:15:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:15:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:15:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:15:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:16:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:16:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:16:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:16:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:16:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:16:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:16:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:16:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:16:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:17:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 00:17:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 00:17:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:17:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:17:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:17:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.384s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:17:05 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.046[m] 0.378[deg]	[grasp_sample.py: 539]
-05/09 00:17:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:17:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:17:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:17:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:17:16 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:17:34 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:17:34 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:17:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:17:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:17:38 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:17:38 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 00:17:38 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.35s:
-  episode_total: mean=167.73s, total=167.73s, count=1, min=167732.9ms, max=167732.9ms
-  sensor_polling: mean=420.2ms, total=126.07s, count=300, min=379.1ms, max=783.9ms
-  physics_step: mean=18.6ms, total=5.58s, count=300, min=13.8ms, max=24.9ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3755.9ms, max=3755.9ms
-  task_sampling: mean=350.3ms, total=350.3ms, count=1, min=350.3ms, max=350.3ms
-  task_specific_sample: mean=347.2ms, total=347.2ms, count=1, min=347.2ms, max=347.2ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=368.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:17:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:17:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:17:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:17:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:17:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:17:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:17:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039014m	[env.py: 870]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:17:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01583814  0.61365821 -0.0390139 ] yaw=-166.4deg	[env.py: 1019]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.27049108  1.07054668 -0.0390139 ] yaw=-138.9deg	[env.py: 1019]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0910949   0.22261318 -0.0390139 ] yaw=161.2deg	[env.py: 1019]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:17:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.2ms, total=104.2ms	[env.py: 1075]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.614, -0.039)	[env.py: 1079]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg	[env.py: 1082]
-05/09 00:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:17:40 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 00:17:40 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:17:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:17:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:17:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:17:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:17:41 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.528[m] 100.863[deg]	[grasp_sample.py: 539]
-05/09 00:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:17:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:17:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:17:52 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:17:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:17:52 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/09 00:17:55 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:17:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:17:55 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
-05/09 00:17:56 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 00:17:56 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.42s:
-  episode_total: mean=148.97s, total=148.97s, count=1, min=148974.5ms, max=148974.5ms
-  sensor_polling: mean=420.5ms, total=118.58s, count=282, min=390.9ms, max=689.7ms
-  physics_step: mean=19.7ms, total=5.56s, count=282, min=15.3ms, max=40.9ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3772.4ms, max=3772.4ms
-  task_sampling: mean=423.2ms, total=423.2ms, count=1, min=423.2ms, max=423.2ms
-  task_specific_sample: mean=419.4ms, total=419.4ms, count=1, min=419.4ms, max=419.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=388.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:17:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:17:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:17:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:17:58 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:17:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:17:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002807m	[env.py: 870]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:17:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.29436915  1.03125941  0.00280733] yaw=-140.0deg	[env.py: 1019]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04134749  0.85305077  0.00280733] yaw=-155.9deg	[env.py: 1019]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10852281  0.73520399  0.00280733] yaw=-153.8deg	[env.py: 1019]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.9ms, total=99.9ms	[env.py: 1075]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.294, 1.031, 0.003)	[env.py: 1079]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg	[env.py: 1082]
-05/09 00:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:17:58 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 00:17:58 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:17:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:17:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:17:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:17:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:17:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:17:58 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.464[m] 82.577[deg]	[grasp_sample.py: 539]
-05/09 00:17:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:17:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:17:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:17:59 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 00:17:59 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.38s:
-  episode_total: mean=143.89s, total=143.89s, count=1, min=143885.8ms, max=143885.8ms
-  sensor_polling: mean=424.3ms, total=114.57s, count=270, min=397.9ms, max=703.2ms
-  physics_step: mean=19.2ms, total=5.18s, count=270, min=13.5ms, max=27.6ms
-  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3627.1ms, max=3627.1ms
-  task_sampling: mean=383.5ms, total=383.5ms, count=1, min=383.5ms, max=383.5ms
-  task_specific_sample: mean=379.9ms, total=379.9ms, count=1, min=379.9ms, max=379.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=372.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:18:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:18:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:18:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:18:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:18:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:18:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:18:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037759m	[env.py: 870]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:18:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15130183  1.14420377 -0.0377591 ] yaw=-134.8deg	[env.py: 1019]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10349117  0.50320948 -0.0377591 ] yaw=-180.3deg	[env.py: 1019]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:18:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.0ms, total=160.0ms	[env.py: 1075]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.151, 1.144, -0.038)	[env.py: 1079]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg	[env.py: 1082]
-05/09 00:18:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
-05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:18:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:18:01 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 00:18:01 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:18:01 INFO: [Worker 0] Worker 0 house 1 episode 5 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:18:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:18:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:18:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:18:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:18:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.630s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:18:03 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.613[m] 81.960[deg]	[grasp_sample.py: 539]
-05/09 00:18:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:18:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:18:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:18:19 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:18:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:18:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:18:23 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 00:18:23 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
-  episode_total: mean=161.07s, total=161.07s, count=1, min=161071.1ms, max=161071.1ms
-  sensor_polling: mean=423.6ms, total=127.08s, count=300, min=378.6ms, max=680.3ms
-  physics_step: mean=20.1ms, total=6.02s, count=300, min=13.5ms, max=32.9ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3797.7ms, max=3797.7ms
-  task_sampling: mean=495.4ms, total=495.4ms, count=1, min=495.4ms, max=495.4ms
-  task_specific_sample: mean=491.9ms, total=491.9ms, count=1, min=491.9ms, max=491.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=359.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:18:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:18:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:18:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:18:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:18:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:18:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:18:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021421m	[env.py: 870]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:18:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09922384  0.80927558 -0.02142099] yaw=-161.7deg	[env.py: 1019]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:18:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms	[env.py: 1075]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.099, 0.809, -0.021)	[env.py: 1079]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
-05/09 00:18:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:18:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:18:25 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 00:18:25 INFO: [Worker 0] Worker 0 house 1 episode 6/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:18:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:18:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:18:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:18:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:18:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:18:26 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.447[m] 85.816[deg]	[grasp_sample.py: 539]
-05/09 00:18:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:18:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:18:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:18:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:18:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:18:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:18:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:18:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:18:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:18:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:19:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:19:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:19:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:19:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:19:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 00:19:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 00:19:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:19:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:19:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 352 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:19:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.401s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:19:47 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.090[m] 10.489[deg]	[grasp_sample.py: 539]
-05/09 00:19:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:19:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:19:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:54 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:19:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:19:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 00:19:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 00:19:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:19:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:19:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.087s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:20:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.030s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:20:02 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 0.122[deg]	[grasp_sample.py: 539]
-05/09 00:20:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:20:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:20:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:20:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:20:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:20:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:20:16 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:20:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:20:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:20:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:20:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:20:26 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:20:29 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:20:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:20:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:20:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.15s (batch: 3.76s, save: 10.39s)	[pipeline.py: 300]
-05/09 00:20:31 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.36s:
-  episode_total: mean=171.19s, total=171.19s, count=1, min=171188.1ms, max=171188.1ms
-  sensor_polling: mean=417.4ms, total=125.22s, count=300, min=387.8ms, max=704.8ms
-  save_trajectories: mean=10.39s, total=10.39s, count=1, min=10391.7ms, max=10391.7ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=13.6ms, max=33.5ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3760.0ms, max=3760.0ms
-  task_sampling: mean=355.2ms, total=355.2ms, count=1, min=355.2ms, max=355.2ms
-  task_specific_sample: mean=350.9ms, total=350.9ms, count=1, min=350.9ms, max=350.9ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=407.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:20:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:20:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:20:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:20:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:20:33 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:20:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:20:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004631m	[env.py: 870]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:20:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11144975  0.72495844  0.00463115] yaw=-146.6deg	[env.py: 1019]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15112034  0.79882404  0.00463115] yaw=-144.3deg	[env.py: 1019]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8625745   0.20627151  0.00463115] yaw=178.2deg	[env.py: 1019]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:20:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.2ms, total=219.2ms	[env.py: 1075]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.111, 0.725, 0.005)	[env.py: 1079]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg	[env.py: 1082]
-05/09 00:20:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
-05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:20:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:20:34 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 00:20:34 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:20:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:20:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:20:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:20:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.154s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:20:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:20:35 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.499[m] 100.472[deg]	[grasp_sample.py: 539]
-05/09 00:20:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:20:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:20:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:20:36 INFO: [Worker 0] Worker 0 house 1 episode 6 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:20:49 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:20:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:20:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:20:51 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:20:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:20:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:20:53 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 00:20:53 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.35s:
-  episode_total: mean=175.23s, total=175.23s, count=1, min=175231.6ms, max=175231.6ms
-  sensor_polling: mean=425.8ms, total=127.75s, count=300, min=393.9ms, max=645.0ms
-  physics_step: mean=19.6ms, total=5.88s, count=300, min=13.7ms, max=38.2ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3981.2ms, max=3981.2ms
-  task_sampling: mean=347.5ms, total=347.5ms, count=1, min=347.5ms, max=347.5ms
-  task_specific_sample: mean=344.3ms, total=344.3ms, count=1, min=344.3ms, max=344.3ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=427.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:20:54 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:20:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:20:54 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/09 00:20:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:20:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:20:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:20:54 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:20:54 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:20:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:20:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006296m	[env.py: 870]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:20:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83184441  0.22688005 -0.00629592] yaw=162.4deg	[env.py: 1019]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01084599  0.78988933 -0.00629592] yaw=-161.8deg	[env.py: 1019]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02034247  0.70093709 -0.00629592] yaw=-155.0deg	[env.py: 1019]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.5ms, total=74.6ms	[env.py: 1075]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.227, -0.006)	[env.py: 1079]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.4 deg	[env.py: 1082]
-05/09 00:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
-05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:20:55 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:20:55 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:20:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:20:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:20:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:20:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:20:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:20:55 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.577[m] 82.590[deg]	[grasp_sample.py: 539]
-05/09 00:20:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:20:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:20:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:21:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:21:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:21:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.23s (batch: 4.02s, save: 10.21s)	[pipeline.py: 300]
-05/09 00:21:06 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s:
-  episode_total: mean=185.50s, total=185.50s, count=1, min=185495.8ms, max=185495.8ms
-  sensor_polling: mean=427.4ms, total=128.22s, count=300, min=390.3ms, max=656.0ms
-  save_trajectories: mean=10.21s, total=10.21s, count=1, min=10212.6ms, max=10212.6ms
-  physics_step: mean=19.6ms, total=5.87s, count=300, min=13.4ms, max=37.7ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4015.1ms, max=4015.1ms
-  task_sampling: mean=454.0ms, total=454.0ms, count=1, min=454.0ms, max=454.0ms
-  task_specific_sample: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=381.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:21:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:21:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:21:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:21:08 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:21:08 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:21:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:21:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004986m	[env.py: 870]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:21:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16989135  1.01487069 -0.00498593] yaw=-145.5deg	[env.py: 1019]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.27615796  1.04801479 -0.00498593] yaw=-120.3deg	[env.py: 1019]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16343619  0.13175341 -0.00498593] yaw=164.5deg	[env.py: 1019]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:21:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=471.0ms, total=471.0ms	[env.py: 1075]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.170, 1.015, -0.005)	[env.py: 1079]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.5 deg	[env.py: 1082]
-05/09 00:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
-05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:21:09 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 00:21:09 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:21:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:21:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:21:09 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:21:09 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:21:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:21:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:21:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.01s (batch: 3.73s, save: 11.28s)	[pipeline.py: 300]
-05/09 00:21:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s:
-  episode_total: mean=164.95s, total=164.95s, count=1, min=164952.1ms, max=164952.1ms
-  sensor_polling: mean=426.0ms, total=121.40s, count=285, min=388.0ms, max=686.2ms
-  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11277.3ms, max=11277.3ms
-  physics_step: mean=20.9ms, total=5.96s, count=285, min=13.6ms, max=56.4ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.6ms, max=3729.6ms
-  task_sampling: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms
-  task_specific_sample: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=386.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:21:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.408s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:21:11 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.534[m] 94.071[deg]	[grasp_sample.py: 539]
-05/09 00:21:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:21:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:21:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:21:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:21:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:21:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:21:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:21:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025541m	[env.py: 870]
-05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:21:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87682321  0.68751038  0.02554065] yaw=-158.5deg	[env.py: 1019]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89295268  0.22436486  0.02554065] yaw=171.0deg	[env.py: 1019]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.15646447  0.70725317  0.02554065] yaw=-167.6deg	[env.py: 1019]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:21:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.9ms	[env.py: 1075]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.688, 0.026)	[env.py: 1079]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
-05/09 00:21:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
-05/09 00:21:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:21:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:21:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:21:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:21:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:21:12 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 00:21:12 INFO: [Worker 0] Worker 0 house 1 episode 7/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:21:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:21:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:21:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:21:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:21:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:21:14 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.622[m] 98.192[deg]	[grasp_sample.py: 539]
-05/09 00:21:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:21:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:21:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:21:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:21:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:21:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:21:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:22:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:22:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:22:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:22:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:22:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:22:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:22:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:22:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:23:01 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:23:13 INFO: [Worker 0] Object is not in grasp! 0.00131 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/09 00:23:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 00:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:23:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:23:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 344 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:23:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:23:13 INFO: [Worker 0] Feasible grasp found 364 (originally 170): w/ 0.075[m] 4.955[deg]	[grasp_sample.py: 539]
-05/09 00:23:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:23:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:23:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:23:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:23:22 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:23:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:23:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:23:23 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:23:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 00:23:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 00:23:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:23:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:23:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.120s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:23:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:23:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:23:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.83s (batch: 3.98s, save: 9.85s)	[pipeline.py: 300]
-05/09 00:23:36 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:23:37 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.51s:
-  episode_total: mean=183.60s, total=183.60s, count=1, min=183600.7ms, max=183600.7ms
-  sensor_polling: mean=454.2ms, total=136.25s, count=300, min=373.8ms, max=875.8ms
-  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9851.6ms, max=9851.6ms
-  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.1ms, max=94.8ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3976.9ms, max=3976.9ms
-  task_sampling: mean=507.7ms, total=507.7ms, count=1, min=507.7ms, max=507.7ms
-  task_specific_sample: mean=503.2ms, total=503.2ms, count=1, min=503.2ms, max=503.2ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=579.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=25.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:23:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.209s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:23:37 INFO: [Worker 0] Feasible grasp found 124 (originally 124): w/ 0.024[m] 0.543[deg]	[grasp_sample.py: 539]
-05/09 00:23:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:23:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:23:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:23:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:23:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:23:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:23:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:23:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:23:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:23:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006774m	[env.py: 870]
-05/09 00:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:23:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05676538  0.28618979 -0.00677382] yaw=159.3deg	[env.py: 1019]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05574801  0.53570093 -0.00677382] yaw=-177.1deg	[env.py: 1019]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11667558  1.06627515 -0.00677382] yaw=-147.2deg	[env.py: 1019]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:23:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.6ms, total=181.7ms	[env.py: 1075]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.057, 0.286, -0.007)	[env.py: 1079]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
-05/09 00:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
-05/09 00:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:23:39 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:23:39 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:23:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:23:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:23:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:23:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.131s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:23:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.749s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:23:40 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.410[m] 86.701[deg]	[grasp_sample.py: 539]
-05/09 00:23:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:23:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:23:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:23:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:23:47 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:23:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:23:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:23:49 INFO: [Worker 0] Worker 0 house 1 episode 7 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:23:58 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:23:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:23:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:23:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:23:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:23:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.21s (batch: 3.99s, save: 8.22s)	[pipeline.py: 300]
-05/09 00:24:00 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.36s:
-  episode_total: mean=185.56s, total=185.56s, count=1, min=185556.1ms, max=185556.1ms
-  sensor_polling: mean=453.6ms, total=136.08s, count=300, min=389.8ms, max=781.0ms
-  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8219.0ms, max=8219.0ms
-  physics_step: mean=22.9ms, total=6.87s, count=300, min=13.5ms, max=70.0ms
-  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3990.3ms, max=3990.3ms
-  task_sampling: mean=362.3ms, total=362.3ms, count=1, min=362.3ms, max=362.3ms
-  task_specific_sample: mean=358.6ms, total=358.6ms, count=1, min=358.6ms, max=358.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=373.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:24:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:24:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:24:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:24:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:24:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:24:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:24:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:24:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:24:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037472m	[env.py: 870]
-05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:24:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9751315   0.77379116  0.03747163] yaw=-155.1deg	[env.py: 1019]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.23830224  0.99664008  0.03747163] yaw=-125.6deg	[env.py: 1019]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03183223  1.02261311  0.03747163] yaw=-135.7deg	[env.py: 1019]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:24:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.6ms	[env.py: 1075]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.774, 0.037)	[env.py: 1079]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
-05/09 00:24:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
-05/09 00:24:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:24:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:24:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:24:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:24:02 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 00:24:02 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:24:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:24:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:24:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:24:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:24:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:24:03 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.508[m] 88.271[deg]	[grasp_sample.py: 539]
-05/09 00:24:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:24:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:24:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:24:10 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:24:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:24:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:24:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:24:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:24:12 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.63s (batch: 3.86s, save: 9.77s)	[pipeline.py: 300]
-05/09 00:24:13 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.39s:
-  episode_total: mean=181.13s, total=181.13s, count=1, min=181125.7ms, max=181125.7ms
-  sensor_polling: mean=443.9ms, total=133.16s, count=300, min=362.8ms, max=740.1ms
-  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9772.3ms, max=9772.3ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=13.9ms, max=48.6ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3858.9ms, max=3858.9ms
-  task_sampling: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
-  task_specific_sample: mean=391.0ms, total=391.0ms, count=1, min=391.0ms, max=391.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=520.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:24:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:24:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:24:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:24:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:24:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:24:15 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:24:15 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:24:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:24:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025897m	[env.py: 870]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:24:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91734801  0.17307799  0.02589695] yaw=170.8deg	[env.py: 1019]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04594718  0.17082551  0.02589695] yaw=151.6deg	[env.py: 1019]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89099927  0.13852369  0.02589695] yaw=171.6deg	[env.py: 1019]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:24:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=405.2ms, total=405.3ms	[env.py: 1075]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.917, 0.173, 0.026)	[env.py: 1079]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
-05/09 00:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:24:15 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 00:24:15 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:24:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:24:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:24:15 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:24:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.094s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:24:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.946s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:24:16 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.503[m] 79.473[deg]	[grasp_sample.py: 539]
-05/09 00:24:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:24:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:24:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:24:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:24:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:24:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:24:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.03s (batch: 5.33s, save: 8.70s)	[pipeline.py: 300]
-05/09 00:24:25 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.75s:
-  episode_total: mean=197.27s, total=197.27s, count=1, min=197271.7ms, max=197271.7ms
-  sensor_polling: mean=448.7ms, total=134.62s, count=300, min=393.6ms, max=692.3ms
-  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.9ms, max=8703.9ms
-  physics_step: mean=22.0ms, total=6.59s, count=300, min=14.1ms, max=52.0ms
-  save_batch_prep: mean=5.33s, total=5.33s, count=1, min=5326.0ms, max=5326.0ms
-  task_sampling: mean=749.7ms, total=749.7ms, count=1, min=749.7ms, max=749.7ms
-  task_specific_sample: mean=745.6ms, total=745.6ms, count=1, min=745.6ms, max=745.6ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=435.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:24:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:24:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:24:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:24:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:24:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:24:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:24:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018701m	[env.py: 870]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:24:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01972113  0.11109031 -0.01870115] yaw=159.0deg	[env.py: 1019]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92270122  0.45718108 -0.01870115] yaw=-176.8deg	[env.py: 1019]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.18747833  0.9813871  -0.01870115] yaw=-129.2deg	[env.py: 1019]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:24:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.8ms, total=130.9ms	[env.py: 1075]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.111, -0.019)	[env.py: 1079]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.0 deg	[env.py: 1082]
-05/09 00:24:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
-05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:24:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:24:27 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 00:24:27 INFO: [Worker 0] Worker 0 house 1 episode 8/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:24:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:24:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:24:27 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:24:27 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:24:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:24:28 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.484[m] 85.771[deg]	[grasp_sample.py: 539]
-05/09 00:24:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:24:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:24:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:24:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:24:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:24:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:25:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:25:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:25:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:25:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:25:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:25:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:25:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:25:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:25:57 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:26:17 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:26:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:26:17 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/09 00:26:22 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:26:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:26:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:26:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.99s (batch: 3.78s, save: 7.21s)	[pipeline.py: 300]
-05/09 00:26:29 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.46s:
-  episode_total: mean=170.46s, total=170.46s, count=1, min=170463.0ms, max=170463.0ms
-  sensor_polling: mean=449.2ms, total=124.88s, count=278, min=374.2ms, max=857.0ms
-  save_trajectories: mean=7.21s, total=7.21s, count=1, min=7209.7ms, max=7209.7ms
-  physics_step: mean=21.2ms, total=5.88s, count=278, min=16.9ms, max=49.0ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3776.5ms, max=3776.5ms
-  task_sampling: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms
-  task_specific_sample: mean=454.7ms, total=454.7ms, count=1, min=454.7ms, max=454.7ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=437.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:26:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:26:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:26:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:26:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:26:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:26:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:26:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017225m	[env.py: 870]
-05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:26:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10544357  1.0726152  -0.01722464] yaw=-141.2deg	[env.py: 1019]
-05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09457921  1.12284147 -0.01722464] yaw=-141.5deg	[env.py: 1019]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99567429  0.82844147 -0.01722464] yaw=-146.0deg	[env.py: 1019]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:26:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.3ms, total=121.4ms	[env.py: 1075]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 1.073, -0.017)	[env.py: 1079]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg	[env.py: 1082]
-05/09 00:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
-05/09 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:26:31 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 00:26:31 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:26:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:26:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:26:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:26:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:26:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:26:32 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.535[m] 87.466[deg]	[grasp_sample.py: 539]
-05/09 00:26:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:26:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:26:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:26:37 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:26:45 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:26:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:26:45 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/09 00:26:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:26:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:26:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:26:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.27s (batch: 4.95s, save: 8.32s)	[pipeline.py: 300]
-05/09 00:26:59 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
-  episode_total: mean=177.23s, total=177.23s, count=1, min=177230.6ms, max=177230.6ms
-  sensor_polling: mean=440.4ms, total=130.37s, count=296, min=389.4ms, max=810.5ms
-  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8316.3ms, max=8316.3ms
-  physics_step: mean=20.9ms, total=6.18s, count=296, min=13.9ms, max=49.2ms
-  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4949.3ms, max=4949.3ms
-  task_sampling: mean=429.7ms, total=429.7ms, count=1, min=429.7ms, max=429.7ms
-  task_specific_sample: mean=426.1ms, total=426.1ms, count=1, min=426.1ms, max=426.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=375.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:27:00 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:27:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:27:00 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/09 00:27:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:27:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:27:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:27:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:27:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:27:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:27:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045902m	[env.py: 870]
-05/09 00:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:27:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02220124  0.06536444  0.04590167] yaw=158.2deg	[env.py: 1019]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:27:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=145.3ms, total=145.3ms	[env.py: 1075]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.065, 0.046)	[env.py: 1079]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.2 deg	[env.py: 1082]
-05/09 00:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
-05/09 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:27:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 00:27:01 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:27:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:27:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:27:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:27:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:27:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.501s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:27:02 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.490[m] 87.399[deg]	[grasp_sample.py: 539]
-05/09 00:27:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:27:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:27:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:27:07 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:27:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:27:07 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/09 00:27:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:27:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:27:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.22s (batch: 3.77s, save: 8.44s)	[pipeline.py: 300]
-05/09 00:27:13 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.74s:
-  episode_total: mean=178.94s, total=178.94s, count=1, min=178943.1ms, max=178943.1ms
-  sensor_polling: mean=444.6ms, total=130.73s, count=294, min=381.1ms, max=751.5ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8441.9ms, max=8441.9ms
-  physics_step: mean=20.9ms, total=6.13s, count=294, min=16.9ms, max=67.6ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3775.0ms, max=3775.0ms
-  task_sampling: mean=742.9ms, total=742.9ms, count=1, min=742.9ms, max=742.9ms
-  task_specific_sample: mean=738.8ms, total=738.8ms, count=1, min=738.8ms, max=738.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=472.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:27:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:27:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:27:15 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:27:15 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:27:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012707m	[env.py: 870]
-05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15816113  0.96389399  0.01270668] yaw=-142.6deg	[env.py: 1019]
-05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00744168  0.04627874  0.01270668] yaw=159.8deg	[env.py: 1019]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08992173  0.5473344   0.01270668] yaw=-175.6deg	[env.py: 1019]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:27:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=523.3ms, total=523.3ms	[env.py: 1075]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.158, 0.964, 0.013)	[env.py: 1079]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
-05/09 00:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
-05/09 00:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:27:16 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 00:27:16 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:27:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:27:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:27:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:27:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:27:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.035s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:27:17 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.445[m] 89.319[deg]	[grasp_sample.py: 539]
-05/09 00:27:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:27:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:27:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:27:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:27:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:27:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.13s (batch: 3.88s, save: 11.25s)	[pipeline.py: 300]
-05/09 00:27:23 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.38s:
-  episode_total: mean=176.37s, total=176.37s, count=1, min=176371.8ms, max=176371.8ms
-  sensor_polling: mean=446.3ms, total=130.33s, count=292, min=379.5ms, max=737.5ms
-  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11253.3ms, max=11253.3ms
-  physics_step: mean=20.7ms, total=6.05s, count=292, min=13.6ms, max=39.7ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3878.6ms, max=3878.6ms
-  task_sampling: mean=379.3ms, total=379.3ms, count=1, min=379.3ms, max=379.3ms
-  task_specific_sample: mean=376.3ms, total=376.3ms, count=1, min=376.3ms, max=376.3ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=366.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:27:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:27:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:27:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:27:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:27:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:27:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:27:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:27:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022207m	[env.py: 870]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:27:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05585061  0.58398927  0.02220722] yaw=-161.9deg	[env.py: 1019]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13604058  0.75032507  0.02220722] yaw=-158.2deg	[env.py: 1019]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07976302  0.76976968  0.02220722] yaw=-161.6deg	[env.py: 1019]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:27:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=462.9ms, total=462.9ms	[env.py: 1075]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.056, 0.584, 0.022)	[env.py: 1079]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
-05/09 00:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m	[env.py: 1086]
-05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:27:25 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 00:27:25 INFO: [Worker 0] Worker 0 house 1 episode 9/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:27:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:27:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:27:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:27:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:27:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.478s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:27:26 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.422[m] 93.949[deg]	[grasp_sample.py: 539]
-05/09 00:27:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:27:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:27:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:27:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:27:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:27:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:28:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:28:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:28:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:28:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:28:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:28:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:28:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:28:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:28:57 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:29:15 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:29:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:29:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:29:26 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:29:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:29:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:29:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.52s (batch: 4.18s, save: 9.34s)	[pipeline.py: 300]
-05/09 00:29:29 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s:
-  episode_total: mean=178.89s, total=178.89s, count=1, min=178891.9ms, max=178891.9ms
-  sensor_polling: mean=448.5ms, total=134.54s, count=300, min=363.8ms, max=822.7ms
-  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9340.4ms, max=9340.4ms
-  physics_step: mean=21.9ms, total=6.56s, count=300, min=16.8ms, max=44.8ms
-  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4178.8ms, max=4178.8ms
-  task_sampling: mean=414.7ms, total=414.7ms, count=1, min=414.7ms, max=414.7ms
-  task_specific_sample: mean=411.6ms, total=411.6ms, count=1, min=411.6ms, max=411.6ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=362.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:29:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:29:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:29:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:29:31 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:29:31 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:29:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:29:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030456m	[env.py: 870]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:29:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08859982  0.94530399 -0.03045637] yaw=-145.2deg	[env.py: 1019]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13006236  0.97618689 -0.03045637] yaw=-140.0deg	[env.py: 1019]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08763752  0.18072668 -0.03045637] yaw=168.8deg	[env.py: 1019]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:29:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.4ms, total=122.5ms	[env.py: 1075]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.089, 0.945, -0.030)	[env.py: 1079]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
-05/09 00:29:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
-05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:29:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:29:31 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 00:29:31 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:29:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:29:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:29:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:29:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:29:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:29:32 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.478[m] 79.811[deg]	[grasp_sample.py: 539]
-05/09 00:29:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:29:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:29:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:29:36 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:29:40 INFO: [Worker 0] Worker 0 house 1 episode 9 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:29:47 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:29:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:29:47 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/09 00:29:59 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:29:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:29:59 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/09 00:30:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:30:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:30:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.01s (batch: 4.85s, save: 9.16s)	[pipeline.py: 300]
-05/09 00:30:02 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
-  episode_total: mean=181.29s, total=181.29s, count=1, min=181285.9ms, max=181285.9ms
-  sensor_polling: mean=458.5ms, total=134.79s, count=294, min=402.1ms, max=814.8ms
-  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9159.5ms, max=9159.5ms
-  physics_step: mean=21.5ms, total=6.32s, count=294, min=17.3ms, max=89.9ms
-  save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4848.8ms, max=4848.8ms
-  task_sampling: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
-  task_specific_sample: mean=455.1ms, total=455.1ms, count=1, min=455.1ms, max=455.1ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=560.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:30:03 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:30:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:30:03 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/09 00:30:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:30:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:30:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:30:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:30:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:30:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:30:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010430m	[env.py: 870]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:30:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94896892  0.0812424   0.01042956] yaw=165.3deg	[env.py: 1019]
-05/09 00:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89476608  0.72097508  0.01042956] yaw=-170.5deg	[env.py: 1019]
-05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:30:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.9ms, total=222.9ms	[env.py: 1075]
-05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.081, 0.010)	[env.py: 1079]
-05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg	[env.py: 1082]
-05/09 00:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/09 00:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:30:04 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 00:30:04 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:30:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:30:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:30:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:30:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.664s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:30:05 INFO: [Worker 0] Feasible grasp found 386 (originally 192): w/ 0.556[m] 90.219[deg]	[grasp_sample.py: 539]
-05/09 00:30:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:30:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:30:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:30:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:30:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:30:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.91s (batch: 3.77s, save: 8.13s)	[pipeline.py: 300]
-05/09 00:30:12 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.82s:
-  episode_total: mean=176.77s, total=176.77s, count=1, min=176772.7ms, max=176772.7ms
-  sensor_polling: mean=449.1ms, total=128.88s, count=287, min=382.0ms, max=754.4ms
-  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8133.2ms, max=8133.2ms
-  physics_step: mean=21.6ms, total=6.21s, count=287, min=15.7ms, max=45.4ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3773.0ms, max=3773.0ms
-  task_sampling: mean=820.0ms, total=820.0ms, count=1, min=820.0ms, max=820.0ms
-  task_specific_sample: mean=816.2ms, total=816.2ms, count=1, min=816.2ms, max=816.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=446.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:30:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:30:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:30:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:30:14 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:30:14 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:30:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:30:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017753m	[env.py: 870]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:30:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89364373  0.75710711 -0.0177525 ] yaw=-169.4deg	[env.py: 1019]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.17033027  0.79102966 -0.0177525 ] yaw=-156.8deg	[env.py: 1019]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92093599  0.00801014 -0.0177525 ] yaw=145.0deg	[env.py: 1019]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:30:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.9ms, total=179.9ms	[env.py: 1075]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.757, -0.018)	[env.py: 1079]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.4 deg	[env.py: 1082]
-05/09 00:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
-05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:30:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:30:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:30:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.03s (batch: 3.64s, save: 7.40s)	[pipeline.py: 300]
-05/09 00:30:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 00:30:14 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:30:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:30:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:30:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:30:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:30:14 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.73s:
-  episode_total: mean=169.72s, total=169.72s, count=1, min=169722.7ms, max=169722.7ms
-  sensor_polling: mean=445.5ms, total=125.20s, count=281, min=385.4ms, max=809.3ms
-  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7395.3ms, max=7395.3ms
-  physics_step: mean=21.6ms, total=6.08s, count=281, min=13.6ms, max=109.7ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3638.1ms, max=3638.1ms
-  task_sampling: mean=729.1ms, total=729.1ms, count=1, min=729.1ms, max=729.1ms
-  task_specific_sample: mean=725.0ms, total=725.0ms, count=1, min=725.0ms, max=725.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=519.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:30:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:30:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:30:16 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.614[m] 94.266[deg]	[grasp_sample.py: 539]
-05/09 00:30:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:30:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:30:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:30:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:30:16 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:30:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:30:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048428m	[env.py: 870]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:30:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9498028   0.60504739  0.04842806] yaw=-174.7deg	[env.py: 1019]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02215921  0.3124304   0.04842806] yaw=172.1deg	[env.py: 1019]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:30:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=133.0ms	[env.py: 1075]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.605, 0.048)	[env.py: 1079]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
-05/09 00:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
-05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:30:16 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 00:30:16 INFO: [Worker 0] Worker 0 house 1 episode 10/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:30:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:30:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:30:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:30:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:30:17 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 00:30:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:30:17 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.463[m] 83.117[deg]	[grasp_sample.py: 539]
-05/09 00:30:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:30:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:30:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:30:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:30:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:30:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:30:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:30:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:30:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:30:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032386m	[env.py: 870]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:30:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82053371  0.5419466  -0.03238584] yaw=-167.0deg	[env.py: 1019]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01091501  0.19969049 -0.03238584] yaw=160.1deg	[env.py: 1019]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04561023  0.55978781 -0.03238584] yaw=-177.3deg	[env.py: 1019]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:30:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=282.6ms, total=282.6ms	[env.py: 1075]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.542, -0.032)	[env.py: 1079]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.0 deg	[env.py: 1082]
-05/09 00:30:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:30:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:30:19 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:30:19 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:30:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:30:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:30:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.097s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:30:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.202s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:30:20 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.657[m] 94.328[deg]	[grasp_sample.py: 539]
-05/09 00:30:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:30:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:30:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:30:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:30:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:31:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:31:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:31:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:31:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:31:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:31:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:31:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:31:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:31:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:31:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:31:57 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:32:15 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:32:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:32:15 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/09 00:32:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:32:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:32:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.07s (batch: 3.57s, save: 8.51s)	[pipeline.py: 300]
-05/09 00:32:27 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.37s:
-  episode_total: mean=176.37s, total=176.37s, count=1, min=176365.7ms, max=176365.7ms
-  sensor_polling: mean=449.8ms, total=130.44s, count=290, min=374.4ms, max=886.9ms
-  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8507.6ms, max=8507.6ms
-  physics_step: mean=22.7ms, total=6.59s, count=290, min=14.9ms, max=51.7ms
-  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3566.4ms, max=3566.4ms
-  task_sampling: mean=372.3ms, total=372.3ms, count=1, min=372.3ms, max=372.3ms
-  task_specific_sample: mean=368.9ms, total=368.9ms, count=1, min=368.9ms, max=368.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=367.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:32:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:32:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:32:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:32:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:32:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032505m	[env.py: 870]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06626566  0.29669678  0.03250498] yaw=161.2deg	[env.py: 1019]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99132611  0.09157904  0.03250498] yaw=156.5deg	[env.py: 1019]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:32:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.0ms, total=365.0ms	[env.py: 1075]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.297, 0.033)	[env.py: 1079]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg	[env.py: 1082]
-05/09 00:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.749m	[env.py: 1086]
-05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:32:30 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:32:30 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:32:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:32:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:32:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:32:30 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:32:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:32:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.649s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:32:31 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.384[m] 88.866[deg]	[grasp_sample.py: 539]
-05/09 00:32:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:32:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:32:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:32:35 INFO: [Worker 0] Worker 0 house 1 episode 10 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:32:43 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:32:50 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:32:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:32:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:32:57 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:32:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:32:57 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/09 00:33:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:33:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:33:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 4.46s, save: 10.23s)	[pipeline.py: 300]
-05/09 00:33:05 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.47s:
-  episode_total: mean=181.53s, total=181.53s, count=1, min=181532.3ms, max=181532.3ms
-  sensor_polling: mean=451.4ms, total=135.41s, count=300, min=393.2ms, max=807.2ms
-  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10225.6ms, max=10225.6ms
-  physics_step: mean=22.3ms, total=6.70s, count=300, min=16.8ms, max=81.3ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.7ms, max=4458.7ms
-  task_sampling: mean=474.3ms, total=474.3ms, count=1, min=474.3ms, max=474.3ms
-  task_specific_sample: mean=471.2ms, total=471.2ms, count=1, min=471.2ms, max=471.2ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=368.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:33:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:33:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:33:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:33:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:33:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:33:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:33:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:33:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:33:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:33:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026324m	[env.py: 870]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:33:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02496039  0.78353805  0.02632417] yaw=-146.0deg	[env.py: 1019]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89801592  0.36602989  0.02632417] yaw=182.5deg	[env.py: 1019]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:33:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99331945  0.40011048  0.02632417] yaw=188.1deg	[env.py: 1019]
-05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:33:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.6ms, total=167.6ms	[env.py: 1075]
-05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 0.784, 0.026)	[env.py: 1079]
-05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.0 deg	[env.py: 1082]
-05/09 00:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
-05/09 00:33:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:33:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:33:07 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 00:33:07 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:33:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:33:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:33:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:33:07 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:33:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:33:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:33:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:33:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:33:07 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.463[m] 90.901[deg]	[grasp_sample.py: 539]
-05/09 00:33:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:33:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:33:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:33:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:33:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:33:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:33:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.44s (batch: 4.49s, save: 8.95s)	[pipeline.py: 300]
-05/09 00:33:11 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.38s:
-  episode_total: mean=174.76s, total=174.76s, count=1, min=174764.0ms, max=174764.0ms
-  sensor_polling: mean=445.7ms, total=128.35s, count=288, min=388.9ms, max=779.6ms
-  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8947.9ms, max=8947.9ms
-  physics_step: mean=21.7ms, total=6.24s, count=288, min=16.9ms, max=40.3ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4487.2ms, max=4487.2ms
-  task_sampling: mean=377.6ms, total=377.6ms, count=1, min=377.6ms, max=377.6ms
-  task_specific_sample: mean=374.3ms, total=374.3ms, count=1, min=374.3ms, max=374.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=363.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:33:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:33:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:33:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:33:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:33:12 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:33:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:33:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024539m	[env.py: 870]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:33:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89323501  0.32452994 -0.02453873] yaw=170.8deg	[env.py: 1019]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97210113  0.15992892 -0.02453873] yaw=165.8deg	[env.py: 1019]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90183135  0.3933756  -0.02453873] yaw=175.2deg	[env.py: 1019]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:33:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.5ms, total=135.5ms	[env.py: 1075]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.325, -0.025)	[env.py: 1079]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
-05/09 00:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
-05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:33:13 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 00:33:13 INFO: [Worker 0] Worker 0 house 1 episode 11/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:33:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:33:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:33:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:33:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:33:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.436s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:33:14 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.595[m] 95.036[deg]	[grasp_sample.py: 539]
-05/09 00:33:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:33:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:33:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:33:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:33:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:33:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:33:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.10s (batch: 3.84s, save: 8.26s)	[pipeline.py: 300]
-05/09 00:33:20 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.93s:
-  episode_total: mean=92.33s, total=184.67s, count=2, min=3037.2ms, max=181631.5ms
-  sensor_polling: mean=443.4ms, total=133.02s, count=300, min=379.1ms, max=712.4ms
-  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8261.3ms, max=8261.3ms
-  physics_step: mean=21.2ms, total=6.36s, count=300, min=16.7ms, max=49.1ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3842.1ms, max=3842.1ms
-  task_sampling: mean=464.4ms, total=928.9ms, count=2, min=426.4ms, max=502.4ms
-  task_specific_sample: mean=461.1ms, total=922.3ms, count=2, min=423.0ms, max=499.3ms
-  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=475.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
-  policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:33:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:33:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:33:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:33:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:33:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:33:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:33:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:33:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045527m	[env.py: 870]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:33:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99872653  0.56490798 -0.04552665] yaw=-162.1deg	[env.py: 1019]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.30674688  0.99730555 -0.04552665] yaw=-141.4deg	[env.py: 1019]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08770788  0.29717921 -0.04552665] yaw=164.7deg	[env.py: 1019]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:33:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.2ms, total=104.2ms	[env.py: 1075]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 0.565, -0.046)	[env.py: 1079]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.1 deg	[env.py: 1082]
-05/09 00:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
-05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:33:22 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 00:33:22 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:33:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:33:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:33:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:33:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.115s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:33:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:33:22 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.423[m] 79.389[deg]	[grasp_sample.py: 539]
-05/09 00:33:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:33:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:33:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:33:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:34:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:34:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:34:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:34:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:34:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:34:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:34:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:34:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:34:52 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:35:09 INFO: [Worker 0] Saved videos eagerly for episode 25 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:35:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:35:09 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
-05/09 00:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:35:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:35:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:35:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.50s (batch: 3.50s, save: 7.00s)	[pipeline.py: 300]
-05/09 00:35:20 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.67s:
-  episode_total: mean=171.33s, total=171.33s, count=1, min=171327.9ms, max=171327.9ms
-  sensor_polling: mean=455.6ms, total=124.38s, count=273, min=377.5ms, max=719.1ms
-  save_trajectories: mean=7.00s, total=7.00s, count=1, min=7000.7ms, max=7000.7ms
-  physics_step: mean=21.8ms, total=5.95s, count=273, min=16.6ms, max=50.5ms
-  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3496.4ms, max=3496.4ms
-  task_sampling: mean=668.9ms, total=668.9ms, count=1, min=668.9ms, max=668.9ms
-  task_specific_sample: mean=664.8ms, total=664.8ms, count=1, min=664.8ms, max=664.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=513.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:35:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:35:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:35:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:35:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:35:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:35:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:35:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040708m	[env.py: 870]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:35:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04068287  0.02334323 -0.04070839] yaw=150.8deg	[env.py: 1019]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94503562  0.294429   -0.04070839] yaw=175.6deg	[env.py: 1019]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06005699  1.01260167 -0.04070839] yaw=-131.8deg	[env.py: 1019]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:35:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.5ms, total=152.6ms	[env.py: 1075]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.023, -0.041)	[env.py: 1079]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg	[env.py: 1082]
-05/09 00:35:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
-05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:35:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:35:22 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 00:35:22 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:35:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:35:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:35:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:35:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:35:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.465s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:35:23 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.493[m] 87.681[deg]	[grasp_sample.py: 539]
-05/09 00:35:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:35:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:35:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:35:38 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:35:39 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:35:41 INFO: [Worker 0] Worker 0 house 1 episode 11 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:35:58 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:35:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:35:58 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/09 00:36:02 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:36:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:36:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:36:03 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:36:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:36:03 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/09 00:36:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:36:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:36:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:36:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.82s (batch: 4.36s, save: 8.46s)	[pipeline.py: 300]
-05/09 00:36:12 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s:
-  episode_total: mean=170.61s, total=170.61s, count=1, min=170610.0ms, max=170610.0ms
-  sensor_polling: mean=450.6ms, total=126.62s, count=281, min=391.4ms, max=689.1ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.8ms, max=8455.8ms
-  physics_step: mean=22.6ms, total=6.35s, count=281, min=16.8ms, max=55.0ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4362.6ms, max=4362.6ms
-  task_sampling: mean=424.7ms, total=424.7ms, count=1, min=424.7ms, max=424.7ms
-  task_specific_sample: mean=420.6ms, total=420.6ms, count=1, min=420.6ms, max=420.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=496.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:36:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:36:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:36:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:36:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:36:13 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:36:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:36:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008881m	[env.py: 870]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:36:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08107575  0.28065179 -0.00888058] yaw=178.6deg	[env.py: 1019]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89698015  0.77036597 -0.00888058] yaw=-155.8deg	[env.py: 1019]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02094714  0.86919532 -0.00888058] yaw=-143.5deg	[env.py: 1019]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:36:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms	[env.py: 1075]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.081, 0.281, -0.009)	[env.py: 1079]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg	[env.py: 1082]
-05/09 00:36:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
-05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:36:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:36:14 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 00:36:14 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:36:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:36:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:36:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:36:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:36:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:36:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:36:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.57s (batch: 4.46s, save: 8.10s)	[pipeline.py: 300]
-05/09 00:36:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.397s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:36:14 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.382[m] 88.287[deg]	[grasp_sample.py: 539]
-05/09 00:36:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:36:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:36:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:36:15 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.39s:
-  episode_total: mean=182.54s, total=182.54s, count=1, min=182539.5ms, max=182539.5ms
-  sensor_polling: mean=449.9ms, total=134.96s, count=300, min=392.6ms, max=734.6ms
-  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8104.2ms, max=8104.2ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=15.1ms, max=42.8ms
-  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4464.4ms, max=4464.4ms
-  task_sampling: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
-  task_specific_sample: mean=388.0ms, total=388.0ms, count=1, min=388.0ms, max=388.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=362.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:36:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:36:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:36:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.23s (batch: 4.12s, save: 8.11s)	[pipeline.py: 300]
-05/09 00:36:16 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.47s:
-  episode_total: mean=189.67s, total=189.67s, count=1, min=189666.4ms, max=189666.4ms
-  sensor_polling: mean=446.6ms, total=129.96s, count=291, min=380.8ms, max=784.5ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8110.7ms, max=8110.7ms
-  physics_step: mean=23.4ms, total=6.81s, count=291, min=13.6ms, max=87.0ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.0ms, max=4123.0ms
-  task_sampling: mean=465.6ms, total=465.6ms, count=1, min=465.6ms, max=465.6ms
-  task_specific_sample: mean=461.5ms, total=461.5ms, count=1, min=461.5ms, max=461.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=518.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:36:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:36:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:36:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:36:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:36:16 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:36:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:36:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023607m	[env.py: 870]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:36:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88128277  0.77764637 -0.02360656] yaw=-162.6deg	[env.py: 1019]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:36:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.9ms, total=178.0ms	[env.py: 1075]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.778, -0.024)	[env.py: 1079]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
-05/09 00:36:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
-05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:36:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:36:17 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:36:17 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:36:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:36:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:36:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:36:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:36:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:36:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:36:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:36:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:36:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:36:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:36:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045877m	[env.py: 870]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:36:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88692803  0.3541931  -0.04587716] yaw=168.3deg	[env.py: 1019]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11489261  0.63170664 -0.04587716] yaw=-168.0deg	[env.py: 1019]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:36:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=168.1ms, total=168.1ms	[env.py: 1075]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.887, 0.354, -0.046)	[env.py: 1079]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg	[env.py: 1082]
-05/09 00:36:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
-05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:36:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:36:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.220s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:36:18 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.561[m] 76.454[deg]	[grasp_sample.py: 539]
-05/09 00:36:18 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 00:36:18 INFO: [Worker 0] Worker 0 house 1 episode 12/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:36:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:36:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:36:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:36:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:36:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:36:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:36:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:36:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.597s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:36:19 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.544[m] 80.200[deg]	[grasp_sample.py: 539]
-05/09 00:36:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:36:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:36:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:36:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:36:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:36:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:37:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:37:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:37:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:37:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:37:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:37:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:37:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:37:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:37:47 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:38:07 INFO: [Worker 0] Saved videos eagerly for episode 26 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:38:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:38:07 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/09 00:38:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:38:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:38:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.60s (batch: 3.73s, save: 7.87s)	[pipeline.py: 300]
-05/09 00:38:19 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
-  episode_total: mean=176.77s, total=176.77s, count=1, min=176771.0ms, max=176771.0ms
-  sensor_polling: mean=456.0ms, total=134.08s, count=294, min=368.7ms, max=832.7ms
-  save_trajectories: mean=7.87s, total=7.87s, count=1, min=7874.9ms, max=7874.9ms
-  physics_step: mean=22.6ms, total=6.64s, count=294, min=13.6ms, max=69.6ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3726.2ms, max=3726.2ms
-  task_sampling: mean=427.1ms, total=427.1ms, count=1, min=427.1ms, max=427.1ms
-  task_specific_sample: mean=423.7ms, total=423.7ms, count=1, min=423.7ms, max=423.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=349.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:38:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:38:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:38:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:38:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:38:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029719m	[env.py: 870]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93246037  0.4424219   0.02971872] yaw=-178.7deg	[env.py: 1019]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85226279  0.61471608  0.02971872] yaw=-172.1deg	[env.py: 1019]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17276385  0.81898315  0.02971872] yaw=-137.4deg	[env.py: 1019]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.3ms, total=96.3ms	[env.py: 1075]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.442, 0.030)	[env.py: 1079]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.7 deg	[env.py: 1082]
-05/09 00:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
-05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:38:21 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:38:21 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:38:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:38:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:38:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:38:21 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.476[m] 86.333[deg]	[grasp_sample.py: 539]
-05/09 00:38:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:38:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:38:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:38:36 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:38:41 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:38:43 INFO: [Worker 0] Worker 0 house 1 episode 12 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:38:56 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:38:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:38:56 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
-05/09 00:39:03 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:39:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:39:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:39:04 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:39:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:39:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:39:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:39:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:39:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:39:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.21s (batch: 3.75s, save: 7.46s)	[pipeline.py: 300]
-05/09 00:39:07 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.38s:
-  episode_total: mean=174.07s, total=174.07s, count=1, min=174071.3ms, max=174071.3ms
-  sensor_polling: mean=452.0ms, total=123.38s, count=273, min=395.7ms, max=746.0ms
-  save_trajectories: mean=7.46s, total=7.46s, count=1, min=7458.7ms, max=7458.7ms
-  physics_step: mean=22.5ms, total=6.15s, count=273, min=13.6ms, max=48.2ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3750.5ms, max=3750.5ms
-  task_sampling: mean=378.3ms, total=378.3ms, count=1, min=378.3ms, max=378.3ms
-  task_specific_sample: mean=374.9ms, total=374.9ms, count=1, min=374.9ms, max=374.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=370.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:39:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:39:09 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:39:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:39:09 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:39:09 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:39:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:39:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042338m	[env.py: 870]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:39:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.30400409  0.91988913  0.04233759] yaw=-145.2deg	[env.py: 1019]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08623403  0.83717712  0.04233759] yaw=-146.7deg	[env.py: 1019]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.12017367  0.66669056  0.04233759] yaw=-154.0deg	[env.py: 1019]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:39:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.6ms, total=194.6ms	[env.py: 1075]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.304, 0.920, 0.042)	[env.py: 1079]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
-05/09 00:39:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.704m	[env.py: 1086]
-05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:39:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:39:10 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 00:39:10 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:39:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:39:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:39:10 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:39:10 INFO: [Worker 0] Collision-checked 388 grasps in 0.136s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:39:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.849s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:39:11 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.393[m] 83.337[deg]	[grasp_sample.py: 539]
-05/09 00:39:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:39:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:39:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:39:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:39:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:39:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:39:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.47s (batch: 3.90s, save: 10.57s)	[pipeline.py: 300]
-05/09 00:39:18 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
-  episode_total: mean=182.00s, total=182.00s, count=1, min=182001.6ms, max=182001.6ms
-  sensor_polling: mean=445.8ms, total=133.73s, count=300, min=376.0ms, max=834.9ms
-  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10574.1ms, max=10574.1ms
-  physics_step: mean=21.5ms, total=6.46s, count=300, min=15.2ms, max=54.2ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3897.2ms, max=3897.2ms
-  task_sampling: mean=430.7ms, total=430.7ms, count=1, min=430.7ms, max=430.7ms
-  task_specific_sample: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=371.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:39:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:39:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:39:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.20s (batch: 3.79s, save: 10.41s)	[pipeline.py: 300]
-05/09 00:39:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:39:19 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s:
-  episode_total: mean=181.48s, total=181.48s, count=1, min=181479.7ms, max=181479.7ms
-  sensor_polling: mean=450.7ms, total=135.22s, count=300, min=392.8ms, max=862.9ms
-  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10408.1ms, max=10408.1ms
-  physics_step: mean=20.8ms, total=6.24s, count=300, min=16.2ms, max=38.8ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.5ms, max=3787.5ms
-  task_sampling: mean=416.5ms, total=416.5ms, count=1, min=416.5ms, max=416.5ms
-  task_specific_sample: mean=413.1ms, total=413.1ms, count=1, min=413.1ms, max=413.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=357.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:39:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:39:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:39:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:39:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:39:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:39:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:39:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018179m	[env.py: 870]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:39:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92869054  0.30975419  0.01817944] yaw=166.6deg	[env.py: 1019]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92866526  0.26289774  0.01817944] yaw=170.4deg	[env.py: 1019]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96588328  0.8899246   0.01817944] yaw=-146.1deg	[env.py: 1019]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:39:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.1ms	[env.py: 1075]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.310, 0.018)	[env.py: 1079]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg	[env.py: 1082]
-05/09 00:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
-05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:39:20 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 00:39:20 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:39:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:39:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:39:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:39:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:39:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:39:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:39:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:39:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:39:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:39:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:39:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004049m	[env.py: 870]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:39:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19722567  0.8895176  -0.0040489 ] yaw=-146.9deg	[env.py: 1019]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10430536  0.87813597 -0.0040489 ] yaw=-148.4deg	[env.py: 1019]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.11984714  0.15142926 -0.0040489 ] yaw=168.2deg	[env.py: 1019]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:39:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.3ms, total=125.4ms	[env.py: 1075]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.197, 0.890, -0.004)	[env.py: 1079]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
-05/09 00:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m	[env.py: 1086]
-05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:39:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:39:21 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.508[m] 86.821[deg]	[grasp_sample.py: 539]
-05/09 00:39:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:39:21 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 00:39:21 INFO: [Worker 0] Worker 0 house 1 episode 13/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:39:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:39:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:39:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:39:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:39:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:39:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:39:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:39:22 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.462[m] 87.883[deg]	[grasp_sample.py: 539]
-05/09 00:39:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:39:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:39:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:39:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:40:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:40:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:40:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:40:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:40:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:40:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:40:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:40:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:40:45 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:41:06 INFO: [Worker 0] Saved videos eagerly for episode 27 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:41:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:41:06 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/09 00:41:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:41:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:41:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.88s (batch: 3.63s, save: 7.25s)	[pipeline.py: 300]
-05/09 00:41:17 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.38s:
-  episode_total: mean=176.94s, total=176.94s, count=1, min=176940.1ms, max=176940.1ms
-  sensor_polling: mean=454.9ms, total=132.82s, count=292, min=367.7ms, max=939.7ms
-  save_trajectories: mean=7.25s, total=7.25s, count=1, min=7248.7ms, max=7248.7ms
-  physics_step: mean=24.6ms, total=7.18s, count=292, min=13.2ms, max=59.0ms
-  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3629.8ms, max=3629.8ms
-  task_sampling: mean=383.5ms, total=383.5ms, count=1, min=383.5ms, max=383.5ms
-  task_specific_sample: mean=380.5ms, total=380.5ms, count=1, min=380.5ms, max=380.5ms
-  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
-  mj_forward_sync: mean=358.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:41:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:41:19 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:41:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:41:19 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:41:19 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:41:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:41:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043037m	[env.py: 870]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:41:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11807875  0.69234685  0.04303737] yaw=-165.3deg	[env.py: 1019]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.26940312  0.90129065  0.04303737] yaw=-138.1deg	[env.py: 1019]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.11518308  1.14453994  0.04303737] yaw=-124.1deg	[env.py: 1019]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:41:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.6ms	[env.py: 1075]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.118, 0.692, 0.043)	[env.py: 1079]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
-05/09 00:41:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.736m	[env.py: 1086]
-05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:41:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:41:19 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:41:19 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:41:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:41:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:41:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:41:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:41:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:41:20 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.368[m] 89.057[deg]	[grasp_sample.py: 539]
-05/09 00:41:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:41:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:41:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:41:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:41:32 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:41:41 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:41:44 INFO: [Worker 0] Worker 0 house 1 episode 13 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:41:51 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:41:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:41:51 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
-05/09 00:41:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:42:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:42:02 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:42:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:42:02 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/09 00:42:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:42:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:42:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.03s (batch: 4.07s, save: 7.97s)	[pipeline.py: 300]
-05/09 00:42:04 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:42:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:42:04 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/09 00:42:04 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.52s:
-  episode_total: mean=174.65s, total=174.65s, count=1, min=174649.7ms, max=174649.7ms
-  sensor_polling: mean=455.4ms, total=125.69s, count=276, min=388.2ms, max=1027.1ms
-  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7965.5ms, max=7965.5ms
-  physics_step: mean=21.7ms, total=6.00s, count=276, min=16.0ms, max=62.7ms
-  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4067.5ms, max=4067.5ms
-  task_sampling: mean=518.9ms, total=518.9ms, count=1, min=518.9ms, max=518.9ms
-  task_specific_sample: mean=514.9ms, total=514.9ms, count=1, min=514.9ms, max=514.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=441.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:42:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:42:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:42:05 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:42:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:42:05 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:42:05 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:42:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:42:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024912m	[env.py: 870]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:42:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21715629  1.01167439 -0.02491237] yaw=-129.5deg	[env.py: 1019]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.26071604  0.94923582 -0.02491237] yaw=-144.3deg	[env.py: 1019]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07780143  0.77624616 -0.02491237] yaw=-142.9deg	[env.py: 1019]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:42:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.6ms, total=83.6ms	[env.py: 1075]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.217, 1.012, -0.025)	[env.py: 1079]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.5 deg	[env.py: 1082]
-05/09 00:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
-05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:42:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 00:42:06 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:42:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:42:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:42:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:42:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:42:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:42:06 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.513[m] 93.525[deg]	[grasp_sample.py: 539]
-05/09 00:42:06 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:42:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:42:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:42:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:42:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:42:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.90s (batch: 3.72s, save: 9.18s)	[pipeline.py: 300]
-05/09 00:42:15 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.40s:
-  episode_total: mean=174.58s, total=174.58s, count=1, min=174583.2ms, max=174583.2ms
-  sensor_polling: mean=447.6ms, total=129.80s, count=290, min=390.0ms, max=880.9ms
-  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9180.9ms, max=9180.9ms
-  physics_step: mean=21.5ms, total=6.25s, count=290, min=13.6ms, max=54.7ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3717.7ms, max=3717.7ms
-  task_sampling: mean=398.3ms, total=398.3ms, count=1, min=398.3ms, max=398.3ms
-  task_specific_sample: mean=394.1ms, total=394.1ms, count=1, min=394.1ms, max=394.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=434.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:42:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:42:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:42:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.09s (batch: 3.57s, save: 9.52s)	[pipeline.py: 300]
-05/09 00:42:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:42:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:42:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:42:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:42:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:42:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:42:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001414m	[env.py: 870]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:42:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15434219  1.04192294  0.00141421] yaw=-130.3deg	[env.py: 1019]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16787548  1.03477138  0.00141421] yaw=-142.6deg	[env.py: 1019]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.15409177  1.17190527  0.00141421] yaw=-142.0deg	[env.py: 1019]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:42:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=428.3ms, total=428.3ms	[env.py: 1075]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.154, 1.042, 0.001)	[env.py: 1079]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.3 deg	[env.py: 1082]
-05/09 00:42:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
-05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:42:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:42:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.41s:
-  episode_total: mean=177.78s, total=177.78s, count=1, min=177782.6ms, max=177782.6ms
-  sensor_polling: mean=444.3ms, total=132.39s, count=298, min=386.6ms, max=790.1ms
-  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9517.8ms, max=9517.8ms
-  physics_step: mean=20.8ms, total=6.19s, count=298, min=14.8ms, max=50.6ms
-  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3574.4ms, max=3574.4ms
-  task_sampling: mean=407.3ms, total=407.3ms, count=1, min=407.3ms, max=407.3ms
-  task_specific_sample: mean=403.0ms, total=403.0ms, count=1, min=403.0ms, max=403.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=514.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:42:18 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 00:42:18 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:42:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:42:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:42:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:42:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:42:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.975s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:42:19 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.495[m] 81.193[deg]	[grasp_sample.py: 539]
-05/09 00:42:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:42:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:42:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:42:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:42:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:42:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:42:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:42:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:42:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:42:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002596m	[env.py: 870]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:42:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01847624  0.4141187   0.00259569] yaw=182.4deg	[env.py: 1019]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16286307  1.06284718  0.00259569] yaw=-137.1deg	[env.py: 1019]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04433921  0.44740523  0.00259569] yaw=-184.9deg	[env.py: 1019]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:42:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=449.7ms, total=449.8ms	[env.py: 1075]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 0.414, 0.003)	[env.py: 1079]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.4 deg	[env.py: 1082]
-05/09 00:42:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:42:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:42:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 00:42:20 INFO: [Worker 0] Worker 0 house 1 episode 14/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:42:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:42:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:42:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:42:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:42:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.975s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:42:22 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.426[m] 88.162[deg]	[grasp_sample.py: 539]
-05/09 00:42:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:42:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:42:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:42:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:43:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:43:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:43:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:43:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:43:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:43:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:43:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:43:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:43:29 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:43:49 INFO: [Worker 0] Saved videos eagerly for episode 28 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:43:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:43:49 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
-05/09 00:44:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:44:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:44:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.49s (batch: 3.65s, save: 7.84s)	[pipeline.py: 300]
-05/09 00:44:01 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.41s:
-  episode_total: mean=162.81s, total=162.81s, count=1, min=162805.1ms, max=162805.1ms
-  sensor_polling: mean=448.8ms, total=120.72s, count=269, min=375.2ms, max=1026.8ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7839.3ms, max=7839.3ms
-  physics_step: mean=22.0ms, total=5.92s, count=269, min=13.3ms, max=57.4ms
-  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3647.0ms, max=3647.0ms
-  task_sampling: mean=410.0ms, total=410.0ms, count=1, min=410.0ms, max=410.0ms
-  task_specific_sample: mean=406.3ms, total=406.3ms, count=1, min=406.3ms, max=406.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=372.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:44:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:44:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:44:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:44:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:44:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:44:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:44:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037118m	[env.py: 870]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:44:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83328686  0.54258892  0.03711819] yaw=-167.4deg	[env.py: 1019]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16030959  1.08301396  0.03711819] yaw=-126.7deg	[env.py: 1019]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87269436  0.3013731   0.03711819] yaw=166.4deg	[env.py: 1019]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:44:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.7ms, total=133.7ms	[env.py: 1075]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.543, 0.037)	[env.py: 1079]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
-05/09 00:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:44:04 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 00:44:04 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:44:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:44:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:44:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:44:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:44:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.349s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:44:05 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.578[m] 88.509[deg]	[grasp_sample.py: 539]
-05/09 00:44:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:44:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:44:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:44:34 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:44:40 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:44:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:44:52 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:44:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:44:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:44:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:44:59 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:44:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:44:59 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/09 00:45:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:45:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:45:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:45:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.66s (batch: 4.01s, save: 9.65s)	[pipeline.py: 300]
-05/09 00:45:07 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.34s:
-  episode_total: mean=181.45s, total=181.45s, count=1, min=181447.2ms, max=181447.2ms
-  sensor_polling: mean=450.8ms, total=135.24s, count=300, min=378.7ms, max=870.8ms
-  save_trajectories: mean=9.65s, total=9.65s, count=1, min=9651.3ms, max=9651.3ms
-  physics_step: mean=22.1ms, total=6.64s, count=300, min=15.2ms, max=80.9ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4008.6ms, max=4008.6ms
-  task_sampling: mean=336.0ms, total=336.0ms, count=1, min=336.0ms, max=336.0ms
-  task_specific_sample: mean=332.7ms, total=332.7ms, count=1, min=332.7ms, max=332.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=367.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:45:07 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:45:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:45:07 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/09 00:45:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:45:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:45:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:45:08 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:45:08 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:45:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:45:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035078m	[env.py: 870]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:45:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10116366  0.10441142 -0.03507829] yaw=154.6deg	[env.py: 1019]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93263304  0.00667685 -0.03507829] yaw=164.4deg	[env.py: 1019]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.07190029  0.86763811 -0.03507829] yaw=-141.9deg	[env.py: 1019]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:45:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms	[env.py: 1075]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.101, 0.104, -0.035)	[env.py: 1079]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.6 deg	[env.py: 1082]
-05/09 00:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
-05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:45:09 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 00:45:09 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:45:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:45:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:45:09 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:45:09 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:45:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:45:09 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.390[m] 76.015[deg]	[grasp_sample.py: 539]
-05/09 00:45:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:45:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:45:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:45:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:45:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:45:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:45:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.78s (batch: 4.13s, save: 7.66s)	[pipeline.py: 300]
-05/09 00:45:12 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.83s:
-  episode_total: mean=172.14s, total=172.14s, count=1, min=172139.9ms, max=172139.9ms
-  sensor_polling: mean=453.2ms, total=127.79s, count=282, min=381.3ms, max=764.9ms
-  save_trajectories: mean=7.66s, total=7.66s, count=1, min=7656.8ms, max=7656.8ms
-  physics_step: mean=24.0ms, total=6.76s, count=282, min=15.9ms, max=54.3ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4126.5ms, max=4126.5ms
-  task_sampling: mean=829.6ms, total=829.6ms, count=1, min=829.6ms, max=829.6ms
-  task_specific_sample: mean=825.4ms, total=825.4ms, count=1, min=825.4ms, max=825.4ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=520.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=30.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:45:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:45:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:45:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:45:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:45:13 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:45:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:45:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005819m	[env.py: 870]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:45:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07187414  0.88401609 -0.00581855] yaw=-153.9deg	[env.py: 1019]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90681781  0.8623779  -0.00581855] yaw=-164.8deg	[env.py: 1019]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94865845  0.11746696 -0.00581855] yaw=156.1deg	[env.py: 1019]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:45:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=68.2ms, total=68.2ms	[env.py: 1075]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.884, -0.006)	[env.py: 1079]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg	[env.py: 1082]
-05/09 00:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
-05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:45:14 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:45:14 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:45:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:45:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:45:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.089s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:45:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.450s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:45:14 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.538[m] 94.908[deg]	[grasp_sample.py: 539]
-05/09 00:45:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:45:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:45:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:45:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:45:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:45:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.32s (batch: 3.89s, save: 8.43s)	[pipeline.py: 300]
-05/09 00:45:20 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.69s:
-  episode_total: mean=183.50s, total=183.50s, count=1, min=183498.7ms, max=183498.7ms
-  sensor_polling: mean=449.9ms, total=132.73s, count=295, min=396.2ms, max=738.1ms
-  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8430.2ms, max=8430.2ms
-  physics_step: mean=22.4ms, total=6.60s, count=295, min=16.7ms, max=75.5ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3888.7ms, max=3888.7ms
-  task_sampling: mean=686.7ms, total=686.7ms, count=1, min=686.7ms, max=686.7ms
-  task_specific_sample: mean=682.9ms, total=682.9ms, count=1, min=682.9ms, max=682.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:45:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:45:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:45:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:45:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:45:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:45:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:45:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030770m	[env.py: 870]
-05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:45:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14432391  0.90365172  0.03076998] yaw=-146.3deg	[env.py: 1019]
-05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93146772  0.85003196  0.03076998] yaw=-159.9deg	[env.py: 1019]
-05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16357999  1.01202433  0.03076998] yaw=-131.7deg	[env.py: 1019]
-05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:45:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=294.3ms, total=294.4ms	[env.py: 1075]
-05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 0.904, 0.031)	[env.py: 1079]
-05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
-05/09 00:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
-05/09 00:45:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:45:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:45:23 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 00:45:23 INFO: [Worker 0] Worker 0 house 1 episode 15/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:45:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:45:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:45:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:45:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:45:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.871s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:45:24 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.472[m] 85.591[deg]	[grasp_sample.py: 539]
-05/09 00:45:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:45:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:45:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:45:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:45:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:46:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:46:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:46:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:46:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:46:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:46:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:46:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:46:28 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:46:52 INFO: [Worker 0] Saved videos eagerly for episode 29 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:46:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:46:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:47:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:47:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:47:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 4.04s, save: 7.94s)	[pipeline.py: 300]
-05/09 00:47:05 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.38s:
-  episode_total: mean=181.38s, total=181.38s, count=1, min=181380.4ms, max=181380.4ms
-  sensor_polling: mean=440.4ms, total=132.12s, count=300, min=377.8ms, max=715.9ms
-  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7937.0ms, max=7937.0ms
-  physics_step: mean=21.1ms, total=6.32s, count=300, min=16.6ms, max=37.5ms
-  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4037.6ms, max=4037.6ms
-  task_sampling: mean=379.8ms, total=379.8ms, count=1, min=379.8ms, max=379.8ms
-  task_specific_sample: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=435.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:47:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:47:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:47:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:47:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:47:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048923m	[env.py: 870]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83921284  0.51359375  0.04892258] yaw=-181.1deg	[env.py: 1019]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.20161166  1.14838783  0.04892258] yaw=-126.1deg	[env.py: 1019]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96177915  0.57374749  0.04892258] yaw=-174.4deg	[env.py: 1019]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:47:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms	[env.py: 1075]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.514, 0.049)	[env.py: 1079]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.1 deg	[env.py: 1082]
-05/09 00:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
-05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:47:07 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:47:07 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:47:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:47:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:47:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:47:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.886s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:47:10 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.559[m] 83.551[deg]	[grasp_sample.py: 539]
-05/09 00:47:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:47:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:47:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:47:23 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:47:37 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:47:40 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:47:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:47:40 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
-05/09 00:47:44 INFO: [Worker 0] Worker 0 house 1 episode 15 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:47:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:47:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:47:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.95s (batch: 3.57s, save: 7.38s)	[pipeline.py: 300]
-05/09 00:47:52 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.43s:
-  episode_total: mean=163.43s, total=163.43s, count=1, min=163432.0ms, max=163432.0ms
-  sensor_polling: mean=460.1ms, total=125.15s, count=272, min=397.4ms, max=657.5ms
-  save_trajectories: mean=7.38s, total=7.38s, count=1, min=7378.1ms, max=7378.1ms
-  physics_step: mean=21.7ms, total=5.90s, count=272, min=13.8ms, max=52.6ms
-  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3568.5ms, max=3568.5ms
-  task_sampling: mean=425.6ms, total=425.6ms, count=1, min=425.6ms, max=425.6ms
-  task_specific_sample: mean=421.9ms, total=421.9ms, count=1, min=421.9ms, max=421.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=436.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:47:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:47:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:47:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:47:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:47:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:47:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:47:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045421m	[env.py: 870]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:47:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01338572  0.2478813  -0.04542145] yaw=163.8deg	[env.py: 1019]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94172742  0.29174878 -0.04542145] yaw=176.3deg	[env.py: 1019]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.09539382  0.08309533 -0.04542145] yaw=144.7deg	[env.py: 1019]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:47:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.8ms, total=140.8ms	[env.py: 1075]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.248, -0.045)	[env.py: 1079]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg	[env.py: 1082]
-05/09 00:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
-05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:47:54 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 00:47:54 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:47:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:47:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:47:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:47:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:47:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.422s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:47:54 INFO: [Worker 0] Feasible grasp found 363 (originally 169): w/ 0.478[m] 88.916[deg]	[grasp_sample.py: 539]
-05/09 00:47:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:47:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:47:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:47:56 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:47:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:47:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:47:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:48:03 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:48:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:48:03 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/09 00:48:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:48:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:48:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:48:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.98s (batch: 3.83s, save: 10.15s)	[pipeline.py: 300]
-05/09 00:48:10 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s:
-  episode_total: mean=177.17s, total=177.17s, count=1, min=177170.6ms, max=177170.6ms
-  sensor_polling: mean=444.9ms, total=133.46s, count=300, min=386.0ms, max=649.4ms
-  save_trajectories: mean=10.15s, total=10.15s, count=1, min=10150.5ms, max=10150.5ms
-  physics_step: mean=21.6ms, total=6.49s, count=300, min=13.4ms, max=49.6ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3829.8ms, max=3829.8ms
-  task_sampling: mean=347.3ms, total=347.3ms, count=1, min=347.3ms, max=347.3ms
-  task_specific_sample: mean=343.7ms, total=343.7ms, count=1, min=343.7ms, max=343.7ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=420.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:48:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:48:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:48:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:48:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:48:12 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:48:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:48:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049790m	[env.py: 870]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:48:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9302764   0.72986793  0.04979023] yaw=-164.4deg	[env.py: 1019]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87658189  0.12625628  0.04979023] yaw=153.6deg	[env.py: 1019]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.99281698  0.39438792  0.04979023] yaw=185.4deg	[env.py: 1019]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:48:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.4ms, total=220.5ms	[env.py: 1075]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.730, 0.050)	[env.py: 1079]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg	[env.py: 1082]
-05/09 00:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
-05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:48:12 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:48:12 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:48:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:48:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:48:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:48:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:48:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:48:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.623s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:48:13 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.538[m] 91.073[deg]	[grasp_sample.py: 539]
-05/09 00:48:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:48:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:48:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:48:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:48:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:48:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.55s (batch: 4.31s, save: 9.24s)	[pipeline.py: 300]
-05/09 00:48:17 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.59s:
-  episode_total: mean=174.67s, total=174.67s, count=1, min=174673.4ms, max=174673.4ms
-  sensor_polling: mean=449.8ms, total=130.89s, count=291, min=380.0ms, max=752.9ms
-  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9238.9ms, max=9238.9ms
-  physics_step: mean=21.6ms, total=6.28s, count=291, min=16.9ms, max=66.9ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4306.3ms, max=4306.3ms
-  task_sampling: mean=586.8ms, total=586.8ms, count=1, min=586.8ms, max=586.8ms
-  task_specific_sample: mean=582.5ms, total=582.5ms, count=1, min=582.5ms, max=582.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=625.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:48:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:48:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:48:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:48:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:48:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:48:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:48:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:48:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000261m	[env.py: 870]
-05/09 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:48:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:48:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14400572e+00  1.13121799e+00  2.61428110e-04] yaw=-141.0deg	[env.py: 1019]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.31373122e+00  1.00072519e+00  2.61428110e-04] yaw=-124.7deg	[env.py: 1019]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.06436043e+00  1.45409179e-01  2.61428110e-04] yaw=150.8deg	[env.py: 1019]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:48:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.7ms	[env.py: 1075]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.131, 0.000)	[env.py: 1079]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
-05/09 00:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
-05/09 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:48:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 00:48:19 INFO: [Worker 0] Worker 0 house 1 episode 16/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:48:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:48:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:48:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:48:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:48:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.528s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:48:21 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.615[m] 81.360[deg]	[grasp_sample.py: 539]
-05/09 00:48:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:48:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:48:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:48:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:48:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:48:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:49:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:49:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:49:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:49:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:49:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:49:33 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:49:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:49:57 INFO: [Worker 0] Saved videos eagerly for episode 30 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:49:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:49:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:50:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:50:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:50:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.48s (batch: 3.77s, save: 7.71s)	[pipeline.py: 300]
-05/09 00:50:09 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.43s:
-  episode_total: mean=183.00s, total=183.00s, count=1, min=182997.5ms, max=182997.5ms
-  sensor_polling: mean=444.2ms, total=133.26s, count=300, min=374.8ms, max=709.9ms
-  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7711.1ms, max=7711.1ms
-  physics_step: mean=23.5ms, total=7.05s, count=300, min=13.9ms, max=87.6ms
-  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3772.2ms, max=3772.2ms
-  task_sampling: mean=429.4ms, total=429.4ms, count=1, min=429.4ms, max=429.4ms
-  task_specific_sample: mean=425.8ms, total=425.8ms, count=1, min=425.8ms, max=425.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=365.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:50:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:50:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:50:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:50:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:50:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:50:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:50:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023918m	[env.py: 870]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:50:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00769094  0.82674589  0.0239177 ] yaw=-154.8deg	[env.py: 1019]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89689941  0.38068545  0.0239177 ] yaw=187.1deg	[env.py: 1019]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01422911  0.32037986  0.0239177 ] yaw=162.2deg	[env.py: 1019]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:50:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.0ms, total=137.0ms	[env.py: 1075]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.008, 0.827, 0.024)	[env.py: 1079]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.8 deg	[env.py: 1082]
-05/09 00:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
-05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:50:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 00:50:11 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:50:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:50:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:50:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:50:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.085s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:50:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:50:12 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.546[m] 100.706[deg]	[grasp_sample.py: 539]
-05/09 00:50:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:50:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:50:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:50:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:50:20 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:50:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:50:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:50:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 00:50:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 00:50:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 00:50:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:50:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:50:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 352 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:50:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:50:30 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.041[m] 47.274[deg]	[grasp_sample.py: 539]
-05/09 00:50:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:50:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:50:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:50:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:50:39 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:50:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:50:39 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/09 00:50:40 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:50:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:50:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:50:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:50:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:50:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.83s (batch: 3.96s, save: 7.88s)	[pipeline.py: 300]
-05/09 00:50:52 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
-  episode_total: mean=178.27s, total=178.27s, count=1, min=178270.2ms, max=178270.2ms
-  sensor_polling: mean=459.7ms, total=134.69s, count=293, min=389.3ms, max=767.9ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7875.3ms, max=7875.3ms
-  physics_step: mean=25.1ms, total=7.35s, count=293, min=14.2ms, max=68.4ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3958.4ms, max=3958.4ms
-  task_sampling: mean=428.4ms, total=428.4ms, count=1, min=428.4ms, max=428.4ms
-  task_specific_sample: mean=424.9ms, total=424.9ms, count=1, min=424.9ms, max=424.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=370.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:50:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:50:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:50:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:50:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:50:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:50:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:50:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047327m	[env.py: 870]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:50:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07598402  0.4962011  -0.04732691] yaw=-166.3deg	[env.py: 1019]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08374136  0.97274163 -0.04732691] yaw=-153.8deg	[env.py: 1019]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97239974  0.22805869 -0.04732691] yaw=160.0deg	[env.py: 1019]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:50:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms	[env.py: 1075]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 0.496, -0.047)	[env.py: 1079]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg	[env.py: 1082]
-05/09 00:50:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
-05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:50:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:50:53 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 00:50:53 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:50:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:50:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:50:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:50:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:50:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.361s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:50:54 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.438[m] 87.614[deg]	[grasp_sample.py: 539]
-05/09 00:50:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:50:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:50:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:50:57 INFO: [Worker 0] Worker 0 house 1 episode 16 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
-05/09 00:50:57 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.43s:
-  episode_total: mean=158.53s, total=158.53s, count=1, min=158527.3ms, max=158527.3ms
-  sensor_polling: mean=449.3ms, total=134.80s, count=300, min=381.1ms, max=766.2ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=14.0ms, max=59.8ms
-  task_sampling: mean=428.7ms, total=428.7ms, count=1, min=428.7ms, max=428.7ms
-  task_specific_sample: mean=425.2ms, total=425.2ms, count=1, min=425.2ms, max=425.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=373.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:50:58 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:50:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:50:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:50:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:50:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:50:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:50:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:50:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:50:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036826m	[env.py: 870]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:50:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1922076   0.8635173  -0.03682606] yaw=-151.6deg	[env.py: 1019]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03482198  0.66802002 -0.03682606] yaw=-166.6deg	[env.py: 1019]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:50:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.3ms	[env.py: 1075]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.192, 0.864, -0.037)	[env.py: 1079]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg	[env.py: 1082]
-05/09 00:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.753m	[env.py: 1086]
-05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:50:59 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 00:50:59 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:50:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:50:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:50:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:50:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:51:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.400s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:51:00 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.439[m] 92.234[deg]	[grasp_sample.py: 539]
-05/09 00:51:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:51:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:51:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:51:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:51:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:51:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:51:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.62s (batch: 3.79s, save: 7.83s)	[pipeline.py: 300]
-05/09 00:51:11 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
-  episode_total: mean=178.71s, total=178.71s, count=1, min=178709.9ms, max=178709.9ms
-  sensor_polling: mean=455.6ms, total=136.67s, count=300, min=385.2ms, max=741.9ms
-  save_trajectories: mean=7.83s, total=7.83s, count=1, min=7826.0ms, max=7826.0ms
-  physics_step: mean=23.5ms, total=7.06s, count=300, min=13.7ms, max=74.5ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3791.0ms, max=3791.0ms
-  task_sampling: mean=468.4ms, total=468.4ms, count=1, min=468.4ms, max=468.4ms
-  task_specific_sample: mean=464.8ms, total=464.8ms, count=1, min=464.8ms, max=464.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=375.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:51:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:51:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:51:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:51:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:51:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:51:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:51:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:51:12 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:51:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:51:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010468m	[env.py: 870]
-05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:51:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:51:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99602674  0.04175063  0.0104684 ] yaw=164.1deg	[env.py: 1019]
-05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01809275  0.49097139  0.0104684 ] yaw=-165.0deg	[env.py: 1019]
-05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:51:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=392.9ms, total=392.9ms	[env.py: 1075]
-05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.042, 0.010)	[env.py: 1079]
-05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.1 deg	[env.py: 1082]
-05/09 00:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
-05/09 00:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:51:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:51:13 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:51:13 INFO: [Worker 0] Worker 0 house 1 episode 17/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:51:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:51:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:51:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:51:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:51:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.021s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:51:18 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.544[m] 88.729[deg]	[grasp_sample.py: 539]
-05/09 00:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:51:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:51:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:51:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:51:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:51:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:51:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:51:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:51:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:52:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:52:14 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/09 00:52:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 00:52:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:52:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:52:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.102s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:52:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:52:15 INFO: [Worker 0] Feasible grasp found 285 (originally 91): w/ 0.156[m] 4.084[deg]	[grasp_sample.py: 539]
-05/09 00:52:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:52:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:52:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:52:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:52:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:52:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:52:38 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:53:02 INFO: [Worker 0] Saved videos eagerly for episode 31 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:53:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:53:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:53:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:53:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:53:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.99s (batch: 3.90s, save: 8.09s)	[pipeline.py: 300]
-05/09 00:53:15 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.42s:
-  episode_total: mean=184.04s, total=184.04s, count=1, min=184037.2ms, max=184037.2ms
-  sensor_polling: mean=451.0ms, total=135.31s, count=300, min=377.4ms, max=881.3ms
-  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8092.4ms, max=8092.4ms
-  physics_step: mean=21.9ms, total=6.58s, count=300, min=16.5ms, max=67.6ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3896.6ms, max=3896.6ms
-  task_sampling: mean=419.7ms, total=419.7ms, count=1, min=419.7ms, max=419.7ms
-  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=364.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:53:16 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:53:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:53:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:53:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:53:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:53:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:53:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:53:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:53:16 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:53:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:53:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019673m	[env.py: 870]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:53:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82602319  0.61058071  0.01967315] yaw=-175.0deg	[env.py: 1019]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02229353  0.27343869  0.01967315] yaw=168.8deg	[env.py: 1019]
-05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82484439  0.48317782  0.01967315] yaw=-166.3deg	[env.py: 1019]
-05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:53:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.7ms, total=166.7ms	[env.py: 1075]
-05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.611, 0.020)	[env.py: 1079]
-05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.0 deg	[env.py: 1082]
-05/09 00:53:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
-05/09 00:53:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:53:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:53:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:53:17 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 00:53:17 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:53:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:53:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:53:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:53:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:53:18 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:53:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.885s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:53:19 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.604[m] 86.324[deg]	[grasp_sample.py: 539]
-05/09 00:53:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:53:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:53:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:53:37 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:53:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:53:37 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/09 00:53:40 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:53:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:53:40 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/09 00:53:46 INFO: [Worker 0] Worker 0 house 1 episode 17 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:53:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:53:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:53:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.31s (batch: 3.79s, save: 7.52s)	[pipeline.py: 300]
-05/09 00:53:49 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.36s:
-  episode_total: mean=176.20s, total=176.20s, count=1, min=176195.4ms, max=176195.4ms
-  sensor_polling: mean=459.0ms, total=131.73s, count=287, min=398.1ms, max=740.1ms
-  save_trajectories: mean=7.52s, total=7.52s, count=1, min=7519.7ms, max=7519.7ms
-  physics_step: mean=22.1ms, total=6.33s, count=287, min=14.2ms, max=57.8ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3790.4ms, max=3790.4ms
-  task_sampling: mean=359.4ms, total=359.4ms, count=1, min=359.4ms, max=359.4ms
-  task_specific_sample: mean=356.2ms, total=356.2ms, count=1, min=356.2ms, max=356.2ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=369.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:53:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:53:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:53:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.08s (batch: 3.50s, save: 7.57s)	[pipeline.py: 300]
-05/09 00:53:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:53:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:53:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:53:51 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:53:51 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:53:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:53:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003052m	[env.py: 870]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:53:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0653967   0.23985883 -0.00305195] yaw=164.6deg	[env.py: 1019]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88377648  0.484985   -0.00305195] yaw=-172.0deg	[env.py: 1019]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96977237  0.37616802 -0.00305195] yaw=171.5deg	[env.py: 1019]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:53:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.2ms, total=152.2ms	[env.py: 1075]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 0.240, -0.003)	[env.py: 1079]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
-05/09 00:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m	[env.py: 1086]
-05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:53:51 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 00:53:51 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:53:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:53:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:53:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:53:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:53:51 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.40s:
-  episode_total: mean=172.72s, total=172.72s, count=1, min=172717.7ms, max=172717.7ms
-  sensor_polling: mean=447.9ms, total=128.55s, count=287, min=388.0ms, max=894.3ms
-  save_trajectories: mean=7.57s, total=7.57s, count=1, min=7574.0ms, max=7574.0ms
-  physics_step: mean=23.8ms, total=6.84s, count=287, min=13.5ms, max=53.4ms
-  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3501.9ms, max=3501.9ms
-  task_sampling: mean=398.0ms, total=398.0ms, count=1, min=398.0ms, max=398.0ms
-  task_specific_sample: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=371.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:53:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.370s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:53:52 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.470[m] 96.169[deg]	[grasp_sample.py: 539]
-05/09 00:53:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:53:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:53:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:53:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:53:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:53:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:53:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:53:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:53:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:53:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043559m	[env.py: 870]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:53:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08639739  0.10436122 -0.04355925] yaw=154.4deg	[env.py: 1019]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98604088  0.7731123  -0.04355925] yaw=-158.3deg	[env.py: 1019]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04063631  0.69721218 -0.04355925] yaw=-150.1deg	[env.py: 1019]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:53:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.8ms, total=144.9ms	[env.py: 1075]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.086, 0.104, -0.044)	[env.py: 1079]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg	[env.py: 1082]
-05/09 00:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
-05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:53:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:53:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 00:53:53 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:53:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:53:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:53:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:53:53 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:53:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:53:54 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.464[m] 87.336[deg]	[grasp_sample.py: 539]
-05/09 00:53:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:53:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:53:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:54:04 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:54:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:54:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:54:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:54:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:54:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:54:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.68s (batch: 3.84s, save: 7.84s)	[pipeline.py: 300]
-05/09 00:54:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.72s:
-  episode_total: mean=184.50s, total=184.50s, count=1, min=184501.9ms, max=184501.9ms
-  sensor_polling: mean=456.1ms, total=136.84s, count=300, min=380.3ms, max=783.6ms
-  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7836.6ms, max=7836.6ms
-  physics_step: mean=24.2ms, total=7.26s, count=300, min=16.9ms, max=74.0ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.0ms, max=3843.0ms
-  task_sampling: mean=717.9ms, total=717.9ms, count=1, min=717.9ms, max=717.9ms
-  task_specific_sample: mean=714.5ms, total=714.5ms, count=1, min=714.5ms, max=714.5ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=411.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:54:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:54:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:54:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:54:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:54:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:54:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:54:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039696m	[env.py: 870]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:54:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97365378  0.1971272  -0.03969608] yaw=155.1deg	[env.py: 1019]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09276028  0.51840457 -0.03969608] yaw=-166.1deg	[env.py: 1019]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:54:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.6ms, total=209.6ms	[env.py: 1075]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.974, 0.197, -0.040)	[env.py: 1079]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg	[env.py: 1082]
-05/09 00:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
-05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:54:19 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 00:54:19 INFO: [Worker 0] Worker 0 house 1 episode 18/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:54:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:54:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:54:19 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:54:19 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:54:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:54:20 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.516[m] 86.406[deg]	[grasp_sample.py: 539]
-05/09 00:54:20 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:54:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:54:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:54:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:54:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:54:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:54:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:54:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:54:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:54:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:54:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:55:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:55:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:55:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:55:42 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:56:06 INFO: [Worker 0] Saved videos eagerly for episode 32 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:56:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:56:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:56:14 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:56:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:56:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:56:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.94s (batch: 3.91s, save: 8.03s)	[pipeline.py: 300]
-05/09 00:56:18 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.41s:
-  episode_total: mean=181.94s, total=181.94s, count=1, min=181938.9ms, max=181938.9ms
-  sensor_polling: mean=445.7ms, total=133.72s, count=300, min=383.9ms, max=828.4ms
-  save_trajectories: mean=8.03s, total=8.03s, count=1, min=8025.6ms, max=8025.6ms
-  physics_step: mean=21.7ms, total=6.51s, count=300, min=14.0ms, max=57.8ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3910.5ms, max=3910.5ms
-  task_sampling: mean=408.5ms, total=408.5ms, count=1, min=408.5ms, max=408.5ms
-  task_specific_sample: mean=405.2ms, total=405.2ms, count=1, min=405.2ms, max=405.2ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=364.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:56:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:56:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:56:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:56:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:56:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:56:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:56:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025277m	[env.py: 870]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:56:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82604426  0.4936781   0.02527719] yaw=-166.0deg	[env.py: 1019]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16460535  0.77626126  0.02527719] yaw=-156.0deg	[env.py: 1019]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87459115  0.40255968  0.02527719] yaw=172.6deg	[env.py: 1019]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:56:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.9ms, total=182.0ms	[env.py: 1075]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 0.494, 0.025)	[env.py: 1079]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.0 deg	[env.py: 1082]
-05/09 00:56:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
-05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:56:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:56:20 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:56:20 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:56:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:56:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:56:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:56:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:56:23 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:56:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.888s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:56:24 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.595[m] 87.113[deg]	[grasp_sample.py: 539]
-05/09 00:56:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:56:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:56:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:56:36 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:56:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:56:36 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/09 00:56:43 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:56:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:56:43 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/09 00:56:43 INFO: [Worker 0] Worker 0 house 1 episode 18 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:56:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:56:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:56:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.77s (batch: 3.87s, save: 7.90s)	[pipeline.py: 300]
-05/09 00:56:48 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.38s:
-  episode_total: mean=175.23s, total=175.23s, count=1, min=175234.4ms, max=175234.4ms
-  sensor_polling: mean=452.8ms, total=130.87s, count=289, min=387.0ms, max=887.7ms
-  save_trajectories: mean=7.90s, total=7.90s, count=1, min=7904.2ms, max=7904.2ms
-  physics_step: mean=21.4ms, total=6.19s, count=289, min=13.7ms, max=55.0ms
-  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3865.8ms, max=3865.8ms
-  task_sampling: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
-  task_specific_sample: mean=379.5ms, total=379.5ms, count=1, min=379.5ms, max=379.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=371.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:56:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:56:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:56:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:56:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:56:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:56:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:56:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033897m	[env.py: 870]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:56:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00157984  0.08051028  0.03389723] yaw=162.2deg	[env.py: 1019]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90414435  0.75219749  0.03389723] yaw=-159.1deg	[env.py: 1019]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9655365   0.62149311  0.03389723] yaw=-167.5deg	[env.py: 1019]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:56:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=72.0ms, total=72.0ms	[env.py: 1075]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 0.081, 0.034)	[env.py: 1079]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg	[env.py: 1082]
-05/09 00:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
-05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:56:50 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:56:50 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:56:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:56:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:56:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:56:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:56:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:56:51 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.507[m] 94.084[deg]	[grasp_sample.py: 539]
-05/09 00:56:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:56:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:56:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:56:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:56:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:56:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.95s (batch: 3.85s, save: 8.10s)	[pipeline.py: 300]
-05/09 00:56:56 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.40s:
-  episode_total: mean=185.12s, total=185.12s, count=1, min=185117.1ms, max=185117.1ms
-  sensor_polling: mean=456.2ms, total=133.66s, count=293, min=384.8ms, max=707.9ms
-  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8100.4ms, max=8100.4ms
-  physics_step: mean=21.8ms, total=6.39s, count=293, min=13.6ms, max=41.8ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3849.6ms, max=3849.6ms
-  task_sampling: mean=401.2ms, total=401.2ms, count=1, min=401.2ms, max=401.2ms
-  task_specific_sample: mean=397.8ms, total=397.8ms, count=1, min=397.8ms, max=397.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=362.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:56:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:56:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:56:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:56:57 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:56:57 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:56:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:56:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042945m	[env.py: 870]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:56:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05228696  0.42584999 -0.04294458] yaw=-174.5deg	[env.py: 1019]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90538339  0.7650892  -0.04294458] yaw=-154.0deg	[env.py: 1019]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.11747894  0.12876876 -0.04294458] yaw=146.1deg	[env.py: 1019]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:56:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.1ms, total=131.1ms	[env.py: 1075]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.052, 0.426, -0.043)	[env.py: 1079]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.5 deg	[env.py: 1082]
-05/09 00:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
-05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:56:58 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 00:56:58 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:56:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:56:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:56:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:56:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:56:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.379s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:56:58 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.444[m] 86.878[deg]	[grasp_sample.py: 539]
-05/09 00:56:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:56:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:56:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:57:02 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:57:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 00:57:02 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/09 00:57:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:57:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:57:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.84s (batch: 3.83s, save: 8.02s)	[pipeline.py: 300]
-05/09 00:57:14 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.71s:
-  episode_total: mean=175.92s, total=175.92s, count=1, min=175921.5ms, max=175921.5ms
-  sensor_polling: mean=446.6ms, total=133.52s, count=299, min=364.0ms, max=718.9ms
-  save_trajectories: mean=8.02s, total=8.02s, count=1, min=8017.0ms, max=8017.0ms
-  physics_step: mean=22.9ms, total=6.83s, count=299, min=17.1ms, max=80.5ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3827.3ms, max=3827.3ms
-  task_sampling: mean=711.5ms, total=711.5ms, count=1, min=711.5ms, max=711.5ms
-  task_specific_sample: mean=708.0ms, total=708.0ms, count=1, min=708.0ms, max=708.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=373.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:57:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:57:16 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:57:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:57:16 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:57:16 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:57:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:57:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028006m	[env.py: 870]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:57:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83944422  0.33065751  0.02800597] yaw=165.9deg	[env.py: 1019]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01727642  0.25624014  0.02800597] yaw=161.8deg	[env.py: 1019]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:57:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.5ms, total=140.5ms	[env.py: 1075]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.331, 0.028)	[env.py: 1079]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg	[env.py: 1082]
-05/09 00:57:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
-05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:57:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:57:16 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:57:16 INFO: [Worker 0] Worker 0 house 1 episode 19/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:57:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:57:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:57:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:57:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:57:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:57:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.931s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:57:18 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.602[m] 91.214[deg]	[grasp_sample.py: 539]
-05/09 00:57:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:57:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:57:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:57:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:57:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:57:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:57:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:57:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:57:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:57:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:57:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:58:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:58:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 00:58:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:58:45 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:59:09 INFO: [Worker 0] Saved videos eagerly for episode 33 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:59:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 00:59:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 00:59:16 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:59:19 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:59:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:59:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:59:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.62s (batch: 3.76s, save: 7.87s)	[pipeline.py: 300]
-05/09 00:59:22 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.47s:
-  episode_total: mean=181.74s, total=181.74s, count=1, min=181735.6ms, max=181735.6ms
-  sensor_polling: mean=439.2ms, total=131.76s, count=300, min=384.7ms, max=824.6ms
-  save_trajectories: mean=7.87s, total=7.87s, count=1, min=7865.8ms, max=7865.8ms
-  physics_step: mean=20.4ms, total=6.13s, count=300, min=16.5ms, max=56.6ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.6ms, max=3756.6ms
-  task_sampling: mean=472.7ms, total=472.7ms, count=1, min=472.7ms, max=472.7ms
-  task_specific_sample: mean=468.2ms, total=468.2ms, count=1, min=468.2ms, max=468.2ms
-  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
-  mj_forward_sync: mean=508.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:59:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:59:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:59:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:59:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:59:23 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:59:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:59:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010934m	[env.py: 870]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:59:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96494605  0.55435418 -0.01093392] yaw=-174.1deg	[env.py: 1019]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86575317  0.70092593 -0.01093392] yaw=-154.0deg	[env.py: 1019]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08480605  1.08510588 -0.01093392] yaw=-146.2deg	[env.py: 1019]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:59:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.5ms, total=133.5ms	[env.py: 1075]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.554, -0.011)	[env.py: 1079]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.1 deg	[env.py: 1082]
-05/09 00:59:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
-05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:59:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:59:23 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:59:23 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:59:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:59:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:59:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:59:24 INFO: [Worker 0] Collision-checked 388 grasps in 0.061s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:59:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:59:24 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.494[m] 88.989[deg]	[grasp_sample.py: 539]
-05/09 00:59:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:59:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:59:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:59:39 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:59:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 00:59:39 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/09 00:59:39 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 00:59:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 00:59:39 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/09 00:59:44 INFO: [Worker 0] Worker 0 house 1 episode 19 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 00:59:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:59:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:59:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.20s (batch: 3.75s, save: 7.45s)	[pipeline.py: 300]
-05/09 00:59:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 00:59:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 00:59:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.45s (batch: 3.79s, save: 7.66s)	[pipeline.py: 300]
-05/09 00:59:51 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.38s:
-  episode_total: mean=173.98s, total=173.98s, count=1, min=173981.9ms, max=173981.9ms
-  sensor_polling: mean=457.0ms, total=130.69s, count=286, min=389.1ms, max=771.8ms
-  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7445.3ms, max=7445.3ms
-  physics_step: mean=22.4ms, total=6.40s, count=286, min=14.3ms, max=63.2ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3753.9ms, max=3753.9ms
-  task_sampling: mean=380.5ms, total=380.5ms, count=1, min=380.5ms, max=380.5ms
-  task_specific_sample: mean=377.0ms, total=377.0ms, count=1, min=377.0ms, max=377.0ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=400.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:59:51 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.33s:
-  episode_total: mean=181.86s, total=181.86s, count=1, min=181860.8ms, max=181860.8ms
-  sensor_polling: mean=458.6ms, total=136.21s, count=297, min=394.2ms, max=1051.5ms
-  save_trajectories: mean=7.66s, total=7.66s, count=1, min=7663.4ms, max=7663.4ms
-  physics_step: mean=22.0ms, total=6.54s, count=297, min=13.7ms, max=86.8ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3789.8ms, max=3789.8ms
-  task_sampling: mean=327.8ms, total=327.8ms, count=1, min=327.8ms, max=327.8ms
-  task_specific_sample: mean=324.4ms, total=324.4ms, count=1, min=324.4ms, max=324.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=394.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 00:59:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:59:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:59:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:59:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:59:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:59:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:59:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001939m	[env.py: 870]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:59:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98196708  0.34207215  0.00193925] yaw=177.2deg	[env.py: 1019]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1152277   0.24985356  0.00193925] yaw=171.5deg	[env.py: 1019]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:59:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 00:59:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 00:59:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:59:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 00:59:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 00:59:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 00:59:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023359m	[env.py: 870]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 00:59:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.2ms, total=232.2ms	[env.py: 1075]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.342, 0.002)	[env.py: 1079]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.2 deg	[env.py: 1082]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03602844  0.38036867  0.02335852] yaw=170.8deg	[env.py: 1019]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86823771  0.09231352  0.02335852] yaw=160.0deg	[env.py: 1019]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 00:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.5ms, total=265.5ms	[env.py: 1075]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.380, 0.023)	[env.py: 1079]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
-05/09 00:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 00:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 00:59:53 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 00:59:53 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:59:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:59:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:59:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:59:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:59:54 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 00:59:54 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
-05/09 00:59:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
-05/09 00:59:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 00:59:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 00:59:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 00:59:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:59:54 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.487[m] 97.003[deg]	[grasp_sample.py: 539]
-05/09 00:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:59:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.357s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 00:59:54 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.359[m] 80.605[deg]	[grasp_sample.py: 539]
-05/09 00:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 00:59:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:59:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 00:59:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 00:59:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:00:03 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:00:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:00:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:00:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:00:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:00:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:00:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.64s (batch: 3.85s, save: 7.79s)	[pipeline.py: 300]
-05/09 01:00:15 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.39s:
-  episode_total: mean=179.42s, total=179.42s, count=1, min=179422.3ms, max=179422.3ms
-  sensor_polling: mean=452.2ms, total=135.67s, count=300, min=362.9ms, max=742.2ms
-  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7790.0ms, max=7790.0ms
-  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.8ms, max=60.4ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.7ms, max=3850.7ms
-  task_sampling: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
-  task_specific_sample: mean=388.0ms, total=388.0ms, count=1, min=388.0ms, max=388.0ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=369.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:00:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:00:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:00:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:00:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:00:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:00:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:00:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044303m	[env.py: 870]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:00:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99385878  0.1547187  -0.04430277] yaw=154.9deg	[env.py: 1019]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91930747  0.39841813 -0.04430277] yaw=184.6deg	[env.py: 1019]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10546296  0.17871097 -0.04430277] yaw=151.9deg	[env.py: 1019]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:00:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.0ms, total=139.0ms	[env.py: 1075]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.155, -0.044)	[env.py: 1079]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.9 deg	[env.py: 1082]
-05/09 01:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
-05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:00:17 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:00:17 INFO: [Worker 0] Worker 0 house 1 episode 20/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:00:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:00:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:00:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:00:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:00:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:00:18 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.517[m] 90.093[deg]	[grasp_sample.py: 539]
-05/09 01:00:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:00:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:00:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:00:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:00:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:00:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:00:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:00:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:00:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:00:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:00:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:01:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:01:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:01:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:01:45 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:02:04 INFO: [Worker 0] Saved videos eagerly for episode 34 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:02:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:02:04 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/09 01:02:04 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:02:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:02:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:02:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.17s (batch: 4.09s, save: 11.08s)	[pipeline.py: 300]
-05/09 01:02:20 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.38s:
-  episode_total: mean=176.65s, total=176.65s, count=1, min=176645.0ms, max=176645.0ms
-  sensor_polling: mean=444.0ms, total=131.43s, count=296, min=374.5ms, max=693.2ms
-  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11084.6ms, max=11084.6ms
-  physics_step: mean=21.0ms, total=6.22s, count=296, min=13.3ms, max=49.8ms
-  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4089.1ms, max=4089.1ms
-  task_sampling: mean=377.0ms, total=377.0ms, count=1, min=377.0ms, max=377.0ms
-  task_specific_sample: mean=373.5ms, total=373.5ms, count=1, min=373.5ms, max=373.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=368.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:02:21 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:02:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:02:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:02:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:02:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:02:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:02:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:02:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030523m	[env.py: 870]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:02:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.26717304  1.02074096  0.03052252] yaw=-128.7deg	[env.py: 1019]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.15734836  0.88102301  0.03052252] yaw=-142.2deg	[env.py: 1019]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:02:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.2ms	[env.py: 1075]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.267, 1.021, 0.031)	[env.py: 1079]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.7 deg	[env.py: 1082]
-05/09 01:02:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
-05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:02:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:02:22 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 01:02:22 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:02:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:02:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:02:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:02:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:02:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:02:22 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.373[m] 74.337[deg]	[grasp_sample.py: 539]
-05/09 01:02:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:02:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:02:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:02:27 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:02:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:02:27 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
-05/09 01:02:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:02:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:02:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.05s (batch: 3.65s, save: 7.40s)	[pipeline.py: 300]
-05/09 01:02:38 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.53s:
-  episode_total: mean=165.43s, total=165.43s, count=1, min=165429.4ms, max=165429.4ms
-  sensor_polling: mean=449.7ms, total=119.61s, count=266, min=390.8ms, max=761.3ms
-  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7403.1ms, max=7403.1ms
-  physics_step: mean=22.2ms, total=5.90s, count=266, min=13.6ms, max=62.6ms
-  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3650.7ms, max=3650.7ms
-  task_sampling: mean=532.7ms, total=532.7ms, count=1, min=532.7ms, max=532.7ms
-  task_specific_sample: mean=528.5ms, total=528.5ms, count=1, min=528.5ms, max=528.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=509.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:02:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:02:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:02:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:02:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:02:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:02:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:02:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008832m	[env.py: 870]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:02:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19224817  0.84301253 -0.00883178] yaw=-138.0deg	[env.py: 1019]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.17268658  0.88772454 -0.00883178] yaw=-147.8deg	[env.py: 1019]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99037732  0.37779393 -0.00883178] yaw=172.3deg	[env.py: 1019]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:02:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.4ms, total=162.4ms	[env.py: 1075]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.192, 0.843, -0.009)	[env.py: 1079]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.0 deg	[env.py: 1082]
-05/09 01:02:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.741m	[env.py: 1086]
-05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:02:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:02:40 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:02:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:02:40 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/09 01:02:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 01:02:40 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:02:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:02:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:02:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:02:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:02:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:02:41 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.349[m] 85.689[deg]	[grasp_sample.py: 539]
-05/09 01:02:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:02:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:02:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:02:43 INFO: [Worker 0] Worker 0 house 1 episode 20 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:02:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:02:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:02:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.35s (batch: 4.80s, save: 8.55s)	[pipeline.py: 300]
-05/09 01:02:55 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.52s:
-  episode_total: mean=181.76s, total=181.76s, count=1, min=181756.0ms, max=181756.0ms
-  sensor_polling: mean=448.5ms, total=133.20s, count=297, min=389.2ms, max=695.2ms
-  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.5ms, max=8549.5ms
-  physics_step: mean=24.1ms, total=7.17s, count=297, min=13.5ms, max=61.5ms
-  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4803.6ms, max=4803.6ms
-  task_sampling: mean=521.3ms, total=521.3ms, count=1, min=521.3ms, max=521.3ms
-  task_specific_sample: mean=517.7ms, total=517.7ms, count=1, min=517.7ms, max=517.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=526.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:02:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:02:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:02:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:02:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:02:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:02:56 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:02:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:02:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019361m	[env.py: 870]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:02:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0690791   0.60795389  0.01936076] yaw=-164.2deg	[env.py: 1019]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11581941  0.27629362  0.01936076] yaw=174.5deg	[env.py: 1019]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.05635679  0.51403172  0.01936076] yaw=-175.9deg	[env.py: 1019]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:02:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.4ms, total=150.4ms	[env.py: 1075]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.069, 0.608, 0.019)	[env.py: 1079]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
-05/09 01:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m	[env.py: 1086]
-05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:02:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:02:56 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 01:02:56 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:02:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:02:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:02:57 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:02:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:02:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.368s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:02:57 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.426[m] 92.424[deg]	[grasp_sample.py: 539]
-05/09 01:02:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:02:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:02:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:03:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:03:04 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:03:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:03:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:03:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:03:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:03:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:03:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:03:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.84s (batch: 3.89s, save: 7.95s)	[pipeline.py: 300]
-05/09 01:03:16 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.39s:
-  episode_total: mean=179.78s, total=179.78s, count=1, min=179775.7ms, max=179775.7ms
-  sensor_polling: mean=451.5ms, total=135.45s, count=300, min=371.8ms, max=653.0ms
-  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7952.9ms, max=7952.9ms
-  physics_step: mean=21.9ms, total=6.56s, count=300, min=14.3ms, max=65.4ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3890.1ms, max=3890.1ms
-  task_sampling: mean=388.3ms, total=388.3ms, count=1, min=388.3ms, max=388.3ms
-  task_specific_sample: mean=384.9ms, total=384.9ms, count=1, min=384.9ms, max=384.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=364.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:03:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:03:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:03:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:03:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:03:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:03:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:03:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011614m	[env.py: 870]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:03:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21321928  1.09167594 -0.01161353] yaw=-126.7deg	[env.py: 1019]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05678696  0.31067432 -0.01161353] yaw=162.5deg	[env.py: 1019]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96234973  0.3163606  -0.01161353] yaw=170.3deg	[env.py: 1019]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:03:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=63.7ms, total=63.7ms	[env.py: 1075]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.213, 1.092, -0.012)	[env.py: 1079]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.7 deg	[env.py: 1082]
-05/09 01:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
-05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:03:18 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:03:18 INFO: [Worker 0] Worker 0 house 1 episode 21/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:03:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:03:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:03:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:03:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:03:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:03:19 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.578[m] 96.504[deg]	[grasp_sample.py: 539]
-05/09 01:03:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:03:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:03:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:03:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:03:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:03:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:03:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:03:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:04:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:04:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:04:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:04:28 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:04:50 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:04:51 INFO: [Worker 0] Saved videos eagerly for episode 35 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:04:51 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:04:51 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
-05/09 01:05:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:05:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:05:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.97s (batch: 3.79s, save: 7.18s)	[pipeline.py: 300]
-05/09 01:05:03 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.48s:
-  episode_total: mean=161.73s, total=161.73s, count=1, min=161730.1ms, max=161730.1ms
-  sensor_polling: mean=439.2ms, total=117.70s, count=268, min=379.9ms, max=806.9ms
-  save_trajectories: mean=7.18s, total=7.18s, count=1, min=7178.1ms, max=7178.1ms
-  physics_step: mean=21.2ms, total=5.67s, count=268, min=14.4ms, max=57.7ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3790.9ms, max=3790.9ms
-  task_sampling: mean=476.3ms, total=476.3ms, count=1, min=476.3ms, max=476.3ms
-  task_specific_sample: mean=473.2ms, total=473.2ms, count=1, min=473.2ms, max=473.2ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=371.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:05:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:05:04 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:05:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:05:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:05:04 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:05:04 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:05:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:05:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022765m	[env.py: 870]
-05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:05:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02807058  0.42169132 -0.02276471] yaw=188.1deg	[env.py: 1019]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92397236  0.54960199 -0.02276471] yaw=-171.8deg	[env.py: 1019]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.1832342   1.03536603 -0.02276471] yaw=-143.1deg	[env.py: 1019]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:05:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.7ms, total=167.8ms	[env.py: 1075]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.422, -0.023)	[env.py: 1079]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.1 deg	[env.py: 1082]
-05/09 01:05:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/09 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:05:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:05:05 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 01:05:05 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:05:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:05:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:05:05 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:05:05 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:05:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.409s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:05:05 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.490[m] 94.228[deg]	[grasp_sample.py: 539]
-05/09 01:05:05 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:05:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:05:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:05:08 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:05:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:05:08 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
-05/09 01:05:14 INFO: [Worker 0] Worker 0 house 1 episode 22 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:05:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:05:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:05:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.43s (batch: 4.17s, save: 10.26s)	[pipeline.py: 300]
-05/09 01:05:23 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.44s:
-  episode_total: mean=162.88s, total=162.88s, count=1, min=162884.8ms, max=162884.8ms
-  sensor_polling: mean=449.6ms, total=120.48s, count=268, min=387.6ms, max=820.7ms
-  save_trajectories: mean=10.26s, total=10.26s, count=1, min=10264.3ms, max=10264.3ms
-  physics_step: mean=21.9ms, total=5.87s, count=268, min=15.9ms, max=42.6ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4165.5ms, max=4165.5ms
-  task_sampling: mean=436.3ms, total=436.3ms, count=1, min=436.3ms, max=436.3ms
-  task_specific_sample: mean=432.1ms, total=432.1ms, count=1, min=432.1ms, max=432.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=513.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:05:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:05:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:05:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:05:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:05:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:05:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:05:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023793m	[env.py: 870]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:05:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16954976  1.11906944  0.02379266] yaw=-124.2deg	[env.py: 1019]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10530984  0.7301334   0.02379266] yaw=-147.6deg	[env.py: 1019]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.20150849  1.06018049  0.02379266] yaw=-124.0deg	[env.py: 1019]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:05:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.1ms, total=95.1ms	[env.py: 1075]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.170, 1.119, 0.024)	[env.py: 1079]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.2 deg	[env.py: 1082]
-05/09 01:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
-05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:05:25 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:05:25 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:05:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:05:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:05:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:05:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:05:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.456s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:05:27 INFO: [Worker 0] Feasible grasp found 149 (originally 149): w/ 0.577[m] 81.738[deg]	[grasp_sample.py: 539]
-05/09 01:05:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:05:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:05:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:05:35 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:05:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:05:35 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/09 01:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:05:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:05:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:05:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:05:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.69s (batch: 3.66s, save: 9.02s)	[pipeline.py: 300]
-05/09 01:05:48 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.42s:
-  episode_total: mean=172.23s, total=172.23s, count=1, min=172232.6ms, max=172232.6ms
-  sensor_polling: mean=447.9ms, total=126.76s, count=283, min=378.1ms, max=705.0ms
-  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9024.1ms, max=9024.1ms
-  physics_step: mean=22.4ms, total=6.35s, count=283, min=14.4ms, max=62.3ms
-  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3662.1ms, max=3662.1ms
-  task_sampling: mean=416.8ms, total=416.8ms, count=1, min=416.8ms, max=416.8ms
-  task_specific_sample: mean=412.0ms, total=412.0ms, count=1, min=412.0ms, max=412.0ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=567.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:05:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:05:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:05:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:05:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:05:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:05:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:05:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025017m	[env.py: 870]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:05:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13553705  0.85003797 -0.0250171 ] yaw=-152.1deg	[env.py: 1019]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12156383  0.92048615 -0.0250171 ] yaw=-140.7deg	[env.py: 1019]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11367953  0.63915231 -0.0250171 ] yaw=-155.8deg	[env.py: 1019]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:05:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.9ms, total=123.9ms	[env.py: 1075]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.136, 0.850, -0.025)	[env.py: 1079]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
-05/09 01:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:05:50 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 01:05:50 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:05:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:05:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:05:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:05:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:05:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:05:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:05:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:05:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:05:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:05:51 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.442[m] 89.915[deg]	[grasp_sample.py: 539]
-05/09 01:05:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:05:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.095s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:05:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:05:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:05:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.393s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:05:52 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.046[m] 0.400[deg]	[grasp_sample.py: 539]
-05/09 01:05:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:05:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:05:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:05:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:05:56 INFO: [Worker 0] Worker 0 house 1 episode 21 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:06:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:06:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:06:14 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:06:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:06:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:06:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:06:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:06:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:06:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.14s (batch: 3.94s, save: 8.20s)	[pipeline.py: 300]
-05/09 01:06:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:06:27 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.32s:
-  episode_total: mean=189.20s, total=189.20s, count=1, min=189198.8ms, max=189198.8ms
-  sensor_polling: mean=449.7ms, total=134.90s, count=300, min=389.1ms, max=690.4ms
-  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8204.2ms, max=8204.2ms
-  physics_step: mean=21.7ms, total=6.51s, count=300, min=13.4ms, max=49.2ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3938.0ms, max=3938.0ms
-  task_sampling: mean=320.8ms, total=320.8ms, count=1, min=320.8ms, max=320.8ms
-  task_specific_sample: mean=317.7ms, total=317.7ms, count=1, min=317.7ms, max=317.7ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=377.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:06:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:06:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:06:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:06:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:06:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:06:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:06:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009186m	[env.py: 870]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:06:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82354391  0.31784061 -0.00918617] yaw=166.3deg	[env.py: 1019]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18872854  0.84482553 -0.00918617] yaw=-141.4deg	[env.py: 1019]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05381285  0.30466961 -0.00918617] yaw=181.1deg	[env.py: 1019]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.6ms, total=157.6ms	[env.py: 1075]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.318, -0.009)	[env.py: 1079]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg	[env.py: 1082]
-05/09 01:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
-05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:06:29 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 01:06:29 INFO: [Worker 0] Worker 0 house 1 episode 22/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:06:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:06:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:06:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:06:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:06:30 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.651[m] 95.010[deg]	[grasp_sample.py: 539]
-05/09 01:06:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:06:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:06:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:06:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:06:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:06:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:06:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:07:28 INFO: [Worker 0] Worker 0 house 1 episode 22 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:07:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:07:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:07:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:07:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:07:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:07:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:07:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:07:52 INFO: [Worker 0] Saved videos eagerly for episode 36 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:07:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:07:52 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/09 01:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:07:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:07:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:07:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:07:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:07:53 INFO: [Worker 0] Collision-checked 388 grasps in 0.094s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:07:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.475s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:07:55 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.058[m] 7.307[deg]	[grasp_sample.py: 539]
-05/09 01:07:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:07:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:07:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:08:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:08:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:08:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.62s (batch: 3.84s, save: 7.78s)	[pipeline.py: 300]
-05/09 01:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:08:05 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.45s:
-  episode_total: mean=180.09s, total=180.09s, count=1, min=180092.2ms, max=180092.2ms
-  sensor_polling: mean=449.3ms, total=132.98s, count=296, min=393.2ms, max=911.7ms
-  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7779.1ms, max=7779.1ms
-  physics_step: mean=20.9ms, total=6.20s, count=296, min=15.7ms, max=51.7ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3841.8ms, max=3841.8ms
-  task_sampling: mean=449.2ms, total=449.2ms, count=1, min=449.2ms, max=449.2ms
-  task_specific_sample: mean=445.6ms, total=445.6ms, count=1, min=445.6ms, max=445.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=368.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:08:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:08:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:08:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:08:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:08:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:08:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:08:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003444m	[env.py: 870]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:08:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86874399  0.39580759 -0.00344355] yaw=186.4deg	[env.py: 1019]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90521468  0.60569725 -0.00344355] yaw=-173.7deg	[env.py: 1019]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8818796   0.29337098 -0.00344355] yaw=176.1deg	[env.py: 1019]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:08:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.3ms, total=101.3ms	[env.py: 1075]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.396, -0.003)	[env.py: 1079]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.4 deg	[env.py: 1082]
-05/09 01:08:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
-05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:08:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:08:07 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 01:08:07 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:08:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:08:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:08:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:08:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.089s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:08:07 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:08:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.419s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:08:08 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.544[m] 88.564[deg]	[grasp_sample.py: 539]
-05/09 01:08:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:08:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:08:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:08:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:08:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:08:09 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 344 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:08:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:08:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:08:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.461s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:08:11 INFO: [Worker 0] Feasible grasp found 26 (originally 26): w/ 0.217[m] 2.973[deg]	[grasp_sample.py: 539]
-05/09 01:08:12 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 01:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:08:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:08:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:08:14 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:08:14 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:08:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026487m	[env.py: 870]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10495382  0.86663779  0.02648731] yaw=-141.5deg	[env.py: 1019]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9089047   0.49425501  0.02648731] yaw=-175.1deg	[env.py: 1019]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09099669  0.32749728  0.02648731] yaw=181.1deg	[env.py: 1019]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.6ms, total=283.6ms	[env.py: 1075]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.105, 0.867, 0.026)	[env.py: 1079]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg	[env.py: 1082]
-05/09 01:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
-05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:08:14 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 01:08:14 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:08:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:08:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:08:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:08:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:08:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.907s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:08:15 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.499[m] 91.260[deg]	[grasp_sample.py: 539]
-05/09 01:08:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:08:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:08:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:08:31 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:08:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:08:31 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/09 01:08:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:08:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:08:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.73s (batch: 3.98s, save: 7.75s)	[pipeline.py: 300]
-05/09 01:08:43 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.38s:
-  episode_total: mean=173.07s, total=173.07s, count=1, min=173073.9ms, max=173073.9ms
-  sensor_polling: mean=442.7ms, total=126.62s, count=286, min=377.9ms, max=833.9ms
-  save_trajectories: mean=7.75s, total=7.75s, count=1, min=7745.5ms, max=7745.5ms
-  physics_step: mean=22.2ms, total=6.36s, count=286, min=15.9ms, max=64.6ms
-  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3980.7ms, max=3980.7ms
-  task_sampling: mean=378.0ms, total=378.0ms, count=1, min=378.0ms, max=378.0ms
-  task_specific_sample: mean=374.7ms, total=374.7ms, count=1, min=374.7ms, max=374.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=379.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:08:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:08:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:08:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:08:45 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:08:45 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:08:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:08:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043742m	[env.py: 870]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:08:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04448451  0.04264122 -0.04374192] yaw=163.3deg	[env.py: 1019]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.21152648  0.80460724 -0.04374192] yaw=-148.7deg	[env.py: 1019]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:08:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.6ms, total=219.6ms	[env.py: 1075]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.044, 0.043, -0.044)	[env.py: 1079]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.3 deg	[env.py: 1082]
-05/09 01:08:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
-05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:08:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:08:45 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 01:08:45 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:08:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:08:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:08:45 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:08:45 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:08:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:08:46 INFO: [Worker 0] Feasible grasp found 363 (originally 169): w/ 0.487[m] 86.421[deg]	[grasp_sample.py: 539]
-05/09 01:08:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:08:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:08:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:08:57 INFO: [Worker 0] Worker 0 house 1 episode 22 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:09:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:09:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:09:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:09:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:09:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:09:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:09:16 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:09:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:09:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:09:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:09:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:09:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.48s (batch: 3.85s, save: 7.63s)	[pipeline.py: 300]
-05/09 01:09:28 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.41s:
-  episode_total: mean=179.42s, total=179.42s, count=1, min=179415.4ms, max=179415.4ms
-  sensor_polling: mean=457.8ms, total=137.35s, count=300, min=377.2ms, max=932.5ms
-  save_trajectories: mean=7.63s, total=7.63s, count=1, min=7628.7ms, max=7628.7ms
-  physics_step: mean=22.4ms, total=6.73s, count=300, min=14.1ms, max=62.3ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3854.1ms, max=3854.1ms
-  task_sampling: mean=406.8ms, total=406.8ms, count=1, min=406.8ms, max=406.8ms
-  task_specific_sample: mean=403.8ms, total=403.8ms, count=1, min=403.8ms, max=403.8ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=367.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:09:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:09:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:09:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:09:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:09:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:09:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:09:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033715m	[env.py: 870]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:09:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90156367  0.0343123  -0.03371458] yaw=157.4deg	[env.py: 1019]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04585439  0.83457935 -0.03371458] yaw=-145.5deg	[env.py: 1019]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.15285391  1.10226143 -0.03371458] yaw=-128.3deg	[env.py: 1019]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:09:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms	[env.py: 1075]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.034, -0.034)	[env.py: 1079]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.4 deg	[env.py: 1082]
-05/09 01:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
-05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:09:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:09:30 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:09:30 INFO: [Worker 0] Worker 0 house 1 episode 23/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:09:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:09:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:09:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:09:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:09:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:09:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.418s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:09:32 INFO: [Worker 0] Feasible grasp found 347 (originally 153): w/ 0.601[m] 81.175[deg]	[grasp_sample.py: 539]
-05/09 01:09:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:09:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:09:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:09:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:09:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:10:30 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:10:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:10:35 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:10:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:10:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:10:50 INFO: [Worker 0] Saved videos eagerly for episode 37 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:10:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:10:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:11:00 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:11:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:11:00 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/09 01:11:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:11:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:11:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.41s (batch: 4.65s, save: 9.76s)	[pipeline.py: 300]
-05/09 01:11:04 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.41s:
-  episode_total: mean=178.26s, total=178.26s, count=1, min=178258.7ms, max=178258.7ms
-  sensor_polling: mean=440.9ms, total=132.27s, count=300, min=387.6ms, max=813.3ms
-  save_trajectories: mean=9.76s, total=9.76s, count=1, min=9760.2ms, max=9760.2ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=16.5ms, max=49.0ms
-  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4648.8ms, max=4648.8ms
-  task_sampling: mean=415.0ms, total=415.0ms, count=1, min=415.0ms, max=415.0ms
-  task_specific_sample: mean=410.8ms, total=410.8ms, count=1, min=410.8ms, max=410.8ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=506.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:11:05 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:11:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:11:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:11:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:11:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:11:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:11:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:11:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015023m	[env.py: 870]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:11:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.2027019   1.12709392  0.0150226 ] yaw=-133.1deg	[env.py: 1019]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16893584  1.03654596  0.0150226 ] yaw=-147.4deg	[env.py: 1019]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11189948  0.79749575  0.0150226 ] yaw=-151.9deg	[env.py: 1019]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:11:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.1ms, total=121.1ms	[env.py: 1075]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.203, 1.127, 0.015)	[env.py: 1079]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
-05/09 01:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
-05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:11:06 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 01:11:06 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:11:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:11:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:11:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:11:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:11:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:11:07 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.577[m] 91.500[deg]	[grasp_sample.py: 539]
-05/09 01:11:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:11:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:11:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:11:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:11:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:11:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.39s (batch: 3.88s, save: 8.51s)	[pipeline.py: 300]
-05/09 01:11:13 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.91s:
-  episode_total: mean=173.44s, total=346.88s, count=2, min=167362.3ms, max=179518.5ms
-  sensor_polling: mean=438.8ms, total=260.66s, count=594, min=381.9ms, max=957.8ms
-  physics_step: mean=21.3ms, total=12.67s, count=594, min=15.1ms, max=57.9ms
-  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8511.8ms, max=8511.8ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms
-  task_sampling: mean=452.7ms, total=905.5ms, count=2, min=391.9ms, max=513.6ms
-  task_specific_sample: mean=449.0ms, total=898.0ms, count=2, min=388.1ms, max=509.9ms
-  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.8ms, max=2.5ms
-  mj_forward_sync: mean=529.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
-  policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:11:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:11:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:11:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:11:15 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:11:15 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:11:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:11:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003051m	[env.py: 870]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:11:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93044453  0.07176974 -0.00305061] yaw=149.5deg	[env.py: 1019]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08637088  0.14392146 -0.00305061] yaw=164.7deg	[env.py: 1019]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.14808453  0.90885645 -0.00305061] yaw=-142.4deg	[env.py: 1019]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:11:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.9ms, total=90.9ms	[env.py: 1075]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.072, -0.003)	[env.py: 1079]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.5 deg	[env.py: 1082]
-05/09 01:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
-05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:11:15 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 01:11:15 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:11:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:11:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:11:15 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:11:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:11:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.479s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:11:17 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.528[m] 77.143[deg]	[grasp_sample.py: 539]
-05/09 01:11:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:11:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:11:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:11:26 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:11:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:11:26 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/09 01:11:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:11:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:11:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.42s (batch: 4.91s, save: 9.51s)	[pipeline.py: 300]
-05/09 01:11:41 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.47s:
-  episode_total: mean=176.43s, total=176.43s, count=1, min=176431.8ms, max=176431.8ms
-  sensor_polling: mean=441.3ms, total=129.31s, count=293, min=375.6ms, max=872.6ms
-  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9514.2ms, max=9514.2ms
-  physics_step: mean=24.0ms, total=7.03s, count=293, min=13.7ms, max=72.3ms
-  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4905.8ms, max=4905.8ms
-  task_sampling: mean=473.3ms, total=473.3ms, count=1, min=473.3ms, max=473.3ms
-  task_specific_sample: mean=469.8ms, total=469.8ms, count=1, min=469.8ms, max=469.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=373.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:11:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:11:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:11:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:11:43 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:11:43 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:11:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:11:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034045m	[env.py: 870]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:11:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.073951    1.00793271  0.03404547] yaw=-150.6deg	[env.py: 1019]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0188429   0.35771039  0.03404547] yaw=172.2deg	[env.py: 1019]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01786458  0.55034373  0.03404547] yaw=-179.7deg	[env.py: 1019]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:11:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms	[env.py: 1075]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 1.008, 0.034)	[env.py: 1079]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg	[env.py: 1082]
-05/09 01:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
-05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:11:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:11:43 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 01:11:43 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:11:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:11:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:11:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:11:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:11:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.510s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:11:45 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.583[m] 92.615[deg]	[grasp_sample.py: 539]
-05/09 01:11:45 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:11:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:11:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:11:59 INFO: [Worker 0] Worker 0 house 1 episode 23 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:12:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:12:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:12:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:12:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:12:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:12:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:12:21 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:12:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:12:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:12:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:12:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:12:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.67s (batch: 3.89s, save: 7.78s)	[pipeline.py: 300]
-05/09 01:12:33 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.52s:
-  episode_total: mean=183.51s, total=183.51s, count=1, min=183508.6ms, max=183508.6ms
-  sensor_polling: mean=457.8ms, total=137.35s, count=300, min=384.6ms, max=799.1ms
-  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7782.0ms, max=7782.0ms
-  physics_step: mean=22.0ms, total=6.61s, count=300, min=14.0ms, max=50.9ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3889.4ms, max=3889.4ms
-  task_sampling: mean=517.8ms, total=517.8ms, count=1, min=517.8ms, max=517.8ms
-  task_specific_sample: mean=514.1ms, total=514.1ms, count=1, min=514.1ms, max=514.1ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=412.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:12:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:12:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:12:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:12:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:12:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:12:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:12:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042682m	[env.py: 870]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:12:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23572291  0.94976251 -0.04268211] yaw=-131.2deg	[env.py: 1019]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09324493  1.12272042 -0.04268211] yaw=-139.7deg	[env.py: 1019]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09520022  0.3979084  -0.04268211] yaw=188.9deg	[env.py: 1019]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:12:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.3ms, total=95.4ms	[env.py: 1075]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.236, 0.950, -0.043)	[env.py: 1079]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.2 deg	[env.py: 1082]
-05/09 01:12:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
-05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:12:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:12:35 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 01:12:35 INFO: [Worker 0] Worker 0 house 1 episode 24/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:12:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:12:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:12:35 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:12:35 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:12:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:12:36 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.397[m] 86.533[deg]	[grasp_sample.py: 539]
-05/09 01:12:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:12:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:12:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:12:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:12:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:12:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:13:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:13:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:13:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:13:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:13:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:13:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:13:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:13:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:13:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:13:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:13:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:13:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.842s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:13:33 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.047[m] 0.422[deg]	[grasp_sample.py: 539]
-05/09 01:13:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:13:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:13:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:13:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:13:41 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:13:43 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:14:06 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:14:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:14:06 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/09 01:14:06 INFO: [Worker 0] Saved videos eagerly for episode 38 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:14:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:14:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:14:16 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:14:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:14:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:14:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.09s (batch: 4.17s, save: 7.92s)	[pipeline.py: 300]
-05/09 01:14:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:14:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:14:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.66s (batch: 4.56s, save: 8.11s)	[pipeline.py: 300]
-05/09 01:14:18 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.39s:
-  episode_total: mean=192.55s, total=192.55s, count=1, min=192550.9ms, max=192550.9ms
-  sensor_polling: mean=440.0ms, total=132.01s, count=300, min=380.4ms, max=815.4ms
-  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7918.1ms, max=7918.1ms
-  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.5ms, max=40.9ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4172.2ms, max=4172.2ms
-  task_sampling: mean=392.9ms, total=392.9ms, count=1, min=392.9ms, max=392.9ms
-  task_specific_sample: mean=389.6ms, total=389.6ms, count=1, min=389.6ms, max=389.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=363.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:14:19 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.34s:
-  episode_total: mean=184.26s, total=184.26s, count=1, min=184262.0ms, max=184262.0ms
-  sensor_polling: mean=452.4ms, total=135.27s, count=299, min=400.1ms, max=687.8ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8105.7ms, max=8105.7ms
-  physics_step: mean=20.9ms, total=6.26s, count=299, min=13.6ms, max=35.6ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4555.6ms, max=4555.6ms
-  task_sampling: mean=339.8ms, total=339.8ms, count=1, min=339.8ms, max=339.8ms
-  task_specific_sample: mean=335.9ms, total=335.9ms, count=1, min=335.9ms, max=335.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=449.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:14:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:14:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:14:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:14:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:14:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:14:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:14:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023742m	[env.py: 870]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:14:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89043591  0.03295164 -0.02374178] yaw=151.4deg	[env.py: 1019]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83931305  0.33879796 -0.02374178] yaw=185.0deg	[env.py: 1019]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9267375   0.10228701 -0.02374178] yaw=157.0deg	[env.py: 1019]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:14:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.1ms, total=186.1ms	[env.py: 1075]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.033, -0.024)	[env.py: 1079]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.4 deg	[env.py: 1082]
-05/09 01:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
-05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:14:20 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:14:20 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:14:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:14:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:14:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:14:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:14:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:14:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:14:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:14:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:14:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:14:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:14:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037408m	[env.py: 870]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:14:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89668514  0.60690674  0.03740816] yaw=-164.6deg	[env.py: 1019]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0059966   0.39274965  0.03740816] yaw=177.8deg	[env.py: 1019]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.4ms, total=154.4ms	[env.py: 1075]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.607, 0.037)	[env.py: 1079]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.6 deg	[env.py: 1082]
-05/09 01:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
-05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:14:21 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 01:14:21 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:14:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:14:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:14:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:14:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:14:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.715s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:14:22 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.536[m] 91.742[deg]	[grasp_sample.py: 539]
-05/09 01:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:14:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:14:22 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.642[m] 90.555[deg]	[grasp_sample.py: 539]
-05/09 01:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:14:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:14:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:14:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:14:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:14:40 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:14:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:14:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:14:49 INFO: [Worker 0] Worker 0 house 1 episode 24 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:14:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:14:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:14:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.77s (batch: 4.30s, save: 8.47s)	[pipeline.py: 300]
-05/09 01:14:53 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.38s:
-  episode_total: mean=190.67s, total=190.67s, count=1, min=190672.8ms, max=190672.8ms
-  sensor_polling: mean=446.0ms, total=133.79s, count=300, min=381.9ms, max=752.1ms
-  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8471.4ms, max=8471.4ms
-  physics_step: mean=21.3ms, total=6.39s, count=300, min=13.6ms, max=65.5ms
-  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4299.7ms, max=4299.7ms
-  task_sampling: mean=378.8ms, total=378.8ms, count=1, min=378.8ms, max=378.8ms
-  task_specific_sample: mean=375.3ms, total=375.3ms, count=1, min=375.3ms, max=375.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=353.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:14:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:14:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:14:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:14:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:14:55 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:14:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:14:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040024m	[env.py: 870]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:14:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94572728  0.13196733 -0.0400243 ] yaw=150.1deg	[env.py: 1019]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03596218  0.30192783 -0.0400243 ] yaw=170.6deg	[env.py: 1019]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20809555  1.05649537 -0.0400243 ] yaw=-144.2deg	[env.py: 1019]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:14:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.6ms, total=138.6ms	[env.py: 1075]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.132, -0.040)	[env.py: 1079]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.1 deg	[env.py: 1082]
-05/09 01:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
-05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:14:55 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 01:14:55 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:14:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:14:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:14:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:14:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:14:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.454s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:14:57 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.613[m] 94.238[deg]	[grasp_sample.py: 539]
-05/09 01:14:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:14:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:14:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:15:09 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:15:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:15:09 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/09 01:15:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:15:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:15:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:15:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.14s (batch: 3.78s, save: 7.36s)	[pipeline.py: 300]
-05/09 01:15:21 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.39s:
-  episode_total: mean=166.41s, total=166.41s, count=1, min=166405.5ms, max=166405.5ms
-  sensor_polling: mean=446.7ms, total=124.18s, count=278, min=363.8ms, max=663.1ms
-  save_trajectories: mean=7.36s, total=7.36s, count=1, min=7361.2ms, max=7361.2ms
-  physics_step: mean=22.4ms, total=6.23s, count=278, min=13.5ms, max=50.6ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3781.8ms, max=3781.8ms
-  task_sampling: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
-  task_specific_sample: mean=382.9ms, total=382.9ms, count=1, min=382.9ms, max=382.9ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=376.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:15:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:15:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:15:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:15:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:15:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:15:23 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:15:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:15:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024961m	[env.py: 870]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:15:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1445947   0.97444834 -0.02496142] yaw=-136.3deg	[env.py: 1019]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01838719  1.03169689 -0.02496142] yaw=-153.0deg	[env.py: 1019]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97934426  0.7479002  -0.02496142] yaw=-167.4deg	[env.py: 1019]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:15:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.6ms, total=109.7ms	[env.py: 1075]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.145, 0.974, -0.025)	[env.py: 1079]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.3 deg	[env.py: 1082]
-05/09 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
-05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:15:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 01:15:23 INFO: [Worker 0] Worker 0 house 1 episode 25/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:15:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:15:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:15:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:15:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:15:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:15:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.427s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:15:25 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.580[m] 93.018[deg]	[grasp_sample.py: 539]
-05/09 01:15:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:15:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:15:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:15:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:15:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:15:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:15:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:16:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:16:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:16:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:16:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:16:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:16:43 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:16:46 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:17:06 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:17:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:17:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:17:09 INFO: [Worker 0] Saved videos eagerly for episode 39 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:17:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:17:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:17:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:17:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:17:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.22s (batch: 4.50s, save: 7.71s)	[pipeline.py: 300]
-05/09 01:17:19 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.41s:
-  episode_total: mean=178.48s, total=178.48s, count=1, min=178477.7ms, max=178477.7ms
-  sensor_polling: mean=438.3ms, total=131.50s, count=300, min=385.3ms, max=683.9ms
-  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7711.9ms, max=7711.9ms
-  physics_step: mean=21.9ms, total=6.58s, count=300, min=16.6ms, max=48.4ms
-  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4504.2ms, max=4504.2ms
-  task_sampling: mean=407.2ms, total=407.2ms, count=1, min=407.2ms, max=407.2ms
-  task_specific_sample: mean=403.7ms, total=403.7ms, count=1, min=403.7ms, max=403.7ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=374.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:17:19 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:17:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:17:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:17:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:17:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:17:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:17:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:17:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008237m	[env.py: 870]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:17:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13437105  0.10147452  0.00823744] yaw=165.6deg	[env.py: 1019]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95088014  0.38555584  0.00823744] yaw=177.4deg	[env.py: 1019]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:17:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=172.9ms, total=172.9ms	[env.py: 1075]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.134, 0.101, 0.008)	[env.py: 1079]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
-05/09 01:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.744m	[env.py: 1086]
-05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:17:21 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:17:21 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:17:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:17:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:17:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.89s (batch: 4.01s, save: 7.88s)	[pipeline.py: 300]
-05/09 01:17:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:17:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:17:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:17:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.079s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:17:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.389s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:17:22 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.401[m] 86.840[deg]	[grasp_sample.py: 539]
-05/09 01:17:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:17:22 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.47s:
-  episode_total: mean=181.70s, total=181.70s, count=1, min=181696.1ms, max=181696.1ms
-  sensor_polling: mean=449.2ms, total=134.75s, count=300, min=396.4ms, max=698.6ms
-  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7878.4ms, max=7878.4ms
-  physics_step: mean=20.7ms, total=6.22s, count=300, min=13.2ms, max=73.1ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4009.8ms, max=4009.8ms
-  task_sampling: mean=470.0ms, total=470.0ms, count=1, min=470.0ms, max=470.0ms
-  task_specific_sample: mean=466.1ms, total=466.1ms, count=1, min=466.1ms, max=466.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=427.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:17:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:17:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:17:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:17:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:17:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:17:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:17:23 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:17:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:17:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034688m	[env.py: 870]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:17:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03994546  0.24838774  0.03468753] yaw=164.0deg	[env.py: 1019]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.34884161  0.96164148  0.03468753] yaw=-140.0deg	[env.py: 1019]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:17:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.8ms, total=156.8ms	[env.py: 1075]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.248, 0.035)	[env.py: 1079]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.0 deg	[env.py: 1082]
-05/09 01:17:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
-05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:17:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:17:24 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 01:17:24 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:17:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:17:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:17:24 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:17:24 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:17:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.396s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:17:24 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.431[m] 94.016[deg]	[grasp_sample.py: 539]
-05/09 01:17:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:17:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:17:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:17:43 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:17:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:17:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:17:50 INFO: [Worker 0] Worker 0 house 1 episode 25 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:17:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:17:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:17:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 4.13s, save: 8.27s)	[pipeline.py: 300]
-05/09 01:17:56 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.39s:
-  episode_total: mean=181.23s, total=181.23s, count=1, min=181232.6ms, max=181232.6ms
-  sensor_polling: mean=444.3ms, total=133.29s, count=300, min=371.6ms, max=653.1ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8272.7ms, max=8272.7ms
-  physics_step: mean=20.7ms, total=6.21s, count=300, min=15.9ms, max=49.3ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4132.1ms, max=4132.1ms
-  task_sampling: mean=394.9ms, total=394.9ms, count=1, min=394.9ms, max=394.9ms
-  task_specific_sample: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:17:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:17:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:17:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:17:58 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:17:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:17:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031593m	[env.py: 870]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:17:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94467469  0.86856704  0.03159349] yaw=-159.9deg	[env.py: 1019]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06879114  0.86166977  0.03159349] yaw=-149.8deg	[env.py: 1019]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80684027  0.40573742  0.03159349] yaw=181.3deg	[env.py: 1019]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.7ms, total=99.8ms	[env.py: 1075]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.869, 0.032)	[env.py: 1079]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
-05/09 01:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
-05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:17:58 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:17:58 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:17:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:17:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:17:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:17:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:18:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.489s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:18:00 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.596[m] 88.914[deg]	[grasp_sample.py: 539]
-05/09 01:18:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:18:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:18:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:18:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:18:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:18:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:18:11 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:18:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:18:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:18:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:18:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:18:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:18:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:18:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:18:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.18s (batch: 4.13s, save: 8.06s)	[pipeline.py: 300]
-05/09 01:18:24 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.36s:
-  episode_total: mean=181.69s, total=181.69s, count=1, min=181692.5ms, max=181692.5ms
-  sensor_polling: mean=447.4ms, total=134.23s, count=300, min=376.4ms, max=651.8ms
-  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.4ms, max=8055.4ms
-  physics_step: mean=22.0ms, total=6.59s, count=300, min=13.7ms, max=55.5ms
-  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4126.6ms, max=4126.6ms
-  task_sampling: mean=359.0ms, total=359.0ms, count=1, min=359.0ms, max=359.0ms
-  task_specific_sample: mean=355.6ms, total=355.6ms, count=1, min=355.6ms, max=355.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=378.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:18:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:18:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:18:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:18:26 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:18:26 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:18:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:18:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007765m	[env.py: 870]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:18:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08184292  0.6194876  -0.00776476] yaw=-163.2deg	[env.py: 1019]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:18:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.9ms, total=190.0ms	[env.py: 1075]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.082, 0.619, -0.008)	[env.py: 1079]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg	[env.py: 1082]
-05/09 01:18:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
-05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:18:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:18:26 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:18:26 INFO: [Worker 0] Worker 0 house 1 episode 26/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:18:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:18:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:18:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:18:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:18:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.361s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:18:27 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.366[m] 83.727[deg]	[grasp_sample.py: 539]
-05/09 01:18:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:18:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:18:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:18:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:18:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:19:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:19:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:19:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:19:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:19:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:19:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:19:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:19:44 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:19:44 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 318 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:19:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.550s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:19:46 INFO: [Worker 0] Feasible grasp found 346 (originally 152): w/ 0.100[m] 0.284[deg]	[grasp_sample.py: 539]
-05/09 01:19:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:19:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:19:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:19:51 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:19:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:20:01 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:20:14 INFO: [Worker 0] Saved videos eagerly for episode 40 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:20:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:20:14 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/09 01:20:19 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:20:25 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:20:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:20:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:20:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:20:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:20:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.45s (batch: 4.12s, save: 7.33s)	[pipeline.py: 300]
-05/09 01:20:26 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.43s:
-  episode_total: mean=182.50s, total=182.50s, count=1, min=182501.5ms, max=182501.5ms
-  sensor_polling: mean=448.0ms, total=126.78s, count=283, min=389.2ms, max=721.1ms
-  save_trajectories: mean=7.33s, total=7.33s, count=1, min=7333.3ms, max=7333.3ms
-  physics_step: mean=20.9ms, total=5.92s, count=283, min=16.0ms, max=58.3ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4121.7ms, max=4121.7ms
-  task_sampling: mean=434.1ms, total=434.1ms, count=1, min=434.1ms, max=434.1ms
-  task_specific_sample: mean=429.7ms, total=429.7ms, count=1, min=429.7ms, max=429.7ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=515.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:20:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:20:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:20:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:20:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:20:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:20:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:20:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002117m	[env.py: 870]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:20:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06441383  0.31504746 -0.00211694] yaw=172.7deg	[env.py: 1019]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83776197  0.33219435 -0.00211694] yaw=182.8deg	[env.py: 1019]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89867903  0.82348114 -0.00211694] yaw=-150.2deg	[env.py: 1019]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:20:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.7ms, total=144.7ms	[env.py: 1075]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.064, 0.315, -0.002)	[env.py: 1079]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
-05/09 01:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
-05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:20:28 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:20:28 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:20:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:20:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:20:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:20:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.088s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:20:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.395s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:20:28 INFO: [Worker 0] Feasible grasp found 386 (originally 192): w/ 0.371[m] 82.721[deg]	[grasp_sample.py: 539]
-05/09 01:20:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:20:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:20:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:20:34 INFO: [Worker 0] Worker 0 house 1 episode 26 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:20:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:20:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:20:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.90s (batch: 3.74s, save: 8.16s)	[pipeline.py: 300]
-05/09 01:20:37 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.43s:
-  episode_total: mean=196.63s, total=196.63s, count=1, min=196628.9ms, max=196628.9ms
-  sensor_polling: mean=447.7ms, total=134.30s, count=300, min=394.9ms, max=796.1ms
-  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8155.9ms, max=8155.9ms
-  physics_step: mean=21.3ms, total=6.39s, count=300, min=13.6ms, max=62.0ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3742.1ms, max=3742.1ms
-  task_sampling: mean=426.5ms, total=426.5ms, count=1, min=426.5ms, max=426.5ms
-  task_specific_sample: mean=423.0ms, total=423.0ms, count=1, min=423.0ms, max=423.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=380.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:20:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:20:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:20:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:20:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:20:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:20:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:20:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049665m	[env.py: 870]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:20:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.28204186  0.93022533  0.04966542] yaw=-130.3deg	[env.py: 1019]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.2208785   0.84805327  0.04966542] yaw=-152.8deg	[env.py: 1019]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:39 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:20:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:20:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97167105  0.23194209  0.04966542] yaw=167.0deg	[env.py: 1019]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:20:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=406.0ms, total=406.0ms	[env.py: 1075]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.282, 0.930, 0.050)	[env.py: 1079]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.3 deg	[env.py: 1082]
-05/09 01:20:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.727m	[env.py: 1086]
-05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:20:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:20:40 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 01:20:40 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:20:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:20:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:20:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:20:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:20:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.894s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:20:41 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.346[m] 86.001[deg]	[grasp_sample.py: 539]
-05/09 01:20:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:20:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:20:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:20:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:20:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:20:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.17s (batch: 4.57s, save: 9.60s)	[pipeline.py: 300]
-05/09 01:20:54 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.35s:
-  episode_total: mean=176.68s, total=176.68s, count=1, min=176679.3ms, max=176679.3ms
-  sensor_polling: mean=435.0ms, total=130.49s, count=300, min=378.2ms, max=631.7ms
-  save_trajectories: mean=9.60s, total=9.60s, count=1, min=9601.7ms, max=9601.7ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=13.9ms, max=49.6ms
-  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4570.9ms, max=4570.9ms
-  task_sampling: mean=346.4ms, total=346.4ms, count=1, min=346.4ms, max=346.4ms
-  task_specific_sample: mean=343.3ms, total=343.3ms, count=1, min=343.3ms, max=343.3ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=374.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:20:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:20:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:20:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:20:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:20:56 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:20:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:20:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043599m	[env.py: 870]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:20:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87153437  0.780787    0.04359947] yaw=-148.1deg	[env.py: 1019]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95430644  0.46802439  0.04359947] yaw=-177.4deg	[env.py: 1019]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96506005  0.53847266  0.04359947] yaw=-162.6deg	[env.py: 1019]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:20:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.8ms, total=218.8ms	[env.py: 1075]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 0.781, 0.044)	[env.py: 1079]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
-05/09 01:20:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
-05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:20:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:20:56 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 01:20:56 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:20:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:20:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:20:57 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:20:57 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:20:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:20:57 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
-05/09 01:20:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:20:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:20:57 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.603[m] 82.553[deg]	[grasp_sample.py: 539]
-05/09 01:20:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:20:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:20:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:21:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:21:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:21:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:21:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.40s (batch: 3.81s, save: 7.59s)	[pipeline.py: 300]
-05/09 01:21:09 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.48s:
-  episode_total: mean=162.69s, total=162.69s, count=1, min=162686.6ms, max=162686.6ms
-  sensor_polling: mean=438.9ms, total=118.07s, count=269, min=368.2ms, max=635.3ms
-  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7590.6ms, max=7590.6ms
-  physics_step: mean=22.5ms, total=6.05s, count=269, min=13.7ms, max=62.3ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3807.4ms, max=3807.4ms
-  task_sampling: mean=484.7ms, total=484.7ms, count=1, min=484.7ms, max=484.7ms
-  task_specific_sample: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=362.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:21:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:21:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:21:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:21:10 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:21:10 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:21:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:21:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047064m	[env.py: 870]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:21:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.20594438  0.96643139 -0.0470636 ] yaw=-147.3deg	[env.py: 1019]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1727157   0.98087972 -0.0470636 ] yaw=-143.2deg	[env.py: 1019]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16293056  0.71935817 -0.0470636 ] yaw=-166.3deg	[env.py: 1019]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:21:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.4ms	[env.py: 1075]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.206, 0.966, -0.047)	[env.py: 1079]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
-05/09 01:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
-05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:21:11 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 01:21:11 INFO: [Worker 0] Worker 0 house 1 episode 27/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:21:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:21:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:21:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:21:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.095s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:21:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:21:11 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.449[m] 79.238[deg]	[grasp_sample.py: 539]
-05/09 01:21:11 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:21:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:21:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:21:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:21:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:21:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:21:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:21:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:21:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:21:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:22:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:22:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:22:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:22:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:22:48 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:22:50 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:23:06 INFO: [Worker 0] Saved videos eagerly for episode 41 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:23:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:23:06 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
-05/09 01:23:10 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:23:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:23:10 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
-05/09 01:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:23:19 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:23:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:23:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:23:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.03s (batch: 4.44s, save: 9.59s)	[pipeline.py: 300]
-05/09 01:23:21 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.40s:
-  episode_total: mean=173.52s, total=173.52s, count=1, min=173516.9ms, max=173516.9ms
-  sensor_polling: mean=454.1ms, total=122.16s, count=269, min=385.0ms, max=921.5ms
-  save_trajectories: mean=9.59s, total=9.59s, count=1, min=9590.6ms, max=9590.6ms
-  physics_step: mean=22.2ms, total=5.96s, count=269, min=16.8ms, max=69.1ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4439.4ms, max=4439.4ms
-  task_sampling: mean=395.9ms, total=395.9ms, count=1, min=395.9ms, max=395.9ms
-  task_specific_sample: mean=391.9ms, total=391.9ms, count=1, min=391.9ms, max=391.9ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=437.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:23:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:23:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:23:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:23:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:23:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:23:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:23:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013697m	[env.py: 870]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:23:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93010173  0.816054    0.01369657] yaw=-157.5deg	[env.py: 1019]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91902385  0.58896894  0.01369657] yaw=-164.1deg	[env.py: 1019]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:23:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.0ms, total=187.0ms	[env.py: 1075]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.816, 0.014)	[env.py: 1079]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg	[env.py: 1082]
-05/09 01:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
-05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:23:23 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 01:23:23 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:23:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:23:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:23:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:23:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:23:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:23:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:23:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.67s (batch: 4.55s, save: 9.12s)	[pipeline.py: 300]
-05/09 01:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:23:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.291s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:23:24 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.564[m] 86.844[deg]	[grasp_sample.py: 539]
-05/09 01:23:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:23:24 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.71s:
-  episode_total: mean=165.18s, total=165.18s, count=1, min=165183.0ms, max=165183.0ms
-  sensor_polling: mean=456.0ms, total=120.85s, count=265, min=389.0ms, max=879.8ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9123.9ms, max=9123.9ms
-  physics_step: mean=21.7ms, total=5.74s, count=265, min=17.1ms, max=40.4ms
-  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.1ms, max=4549.1ms
-  task_sampling: mean=714.0ms, total=714.0ms, count=1, min=714.0ms, max=714.0ms
-  task_specific_sample: mean=709.9ms, total=709.9ms, count=1, min=709.9ms, max=709.9ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=556.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:23:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:23:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:23:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:23:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:23:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:23:26 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:23:26 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:23:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:23:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023679m	[env.py: 870]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:23:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93194141  0.75754023 -0.02367889] yaw=-149.0deg	[env.py: 1019]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:23:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms	[env.py: 1075]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.758, -0.024)	[env.py: 1079]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg	[env.py: 1082]
-05/09 01:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
-05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:23:26 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 01:23:26 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:23:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:23:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:23:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:23:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:23:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.149s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:23:28 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.611[m] 98.320[deg]	[grasp_sample.py: 539]
-05/09 01:23:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:23:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:23:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:23:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:23:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:23:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:23:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:23:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.097s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:23:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.483s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:23:30 INFO: [Worker 0] Feasible grasp found 124 (originally 124): w/ 0.024[m] 0.784[deg]	[grasp_sample.py: 539]
-05/09 01:23:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:23:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:23:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:23:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:23:39 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:23:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:23:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:23:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:23:46 INFO: [Worker 0] Worker 0 house 1 episode 27 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:23:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:23:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:23:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.94s (batch: 4.27s, save: 9.67s)	[pipeline.py: 300]
-05/09 01:23:53 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.50s:
-  episode_total: mean=177.44s, total=177.44s, count=1, min=177442.2ms, max=177442.2ms
-  sensor_polling: mean=441.2ms, total=132.37s, count=300, min=382.6ms, max=711.2ms
-  save_trajectories: mean=9.67s, total=9.67s, count=1, min=9665.4ms, max=9665.4ms
-  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.8ms, max=54.9ms
-  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4269.6ms, max=4269.6ms
-  task_sampling: mean=504.6ms, total=504.6ms, count=1, min=504.6ms, max=504.6ms
-  task_specific_sample: mean=500.5ms, total=500.5ms, count=1, min=500.5ms, max=500.5ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=462.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:23:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:23:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:23:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:23:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:23:55 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:23:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:23:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039664m	[env.py: 870]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:23:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03631401  0.66776414  0.03966372] yaw=-165.0deg	[env.py: 1019]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83369284  0.21869311  0.03966372] yaw=157.3deg	[env.py: 1019]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01313047  0.53244392  0.03966372] yaw=-166.0deg	[env.py: 1019]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:23:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.4ms, total=100.4ms	[env.py: 1075]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.668, 0.040)	[env.py: 1079]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.0 deg	[env.py: 1082]
-05/09 01:23:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
-05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:23:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:23:55 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:23:55 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:23:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:23:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:23:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:23:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:23:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:23:56 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.429[m] 91.995[deg]	[grasp_sample.py: 539]
-05/09 01:23:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:23:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:23:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:24:06 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:24:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:24:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:24:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:24:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:24:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:24:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.05s (batch: 3.96s, save: 10.09s)	[pipeline.py: 300]
-05/09 01:24:21 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.45s:
-  episode_total: mean=191.03s, total=191.03s, count=1, min=191032.7ms, max=191032.7ms
-  sensor_polling: mean=448.2ms, total=134.45s, count=300, min=381.4ms, max=726.4ms
-  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10087.4ms, max=10087.4ms
-  physics_step: mean=22.5ms, total=6.76s, count=300, min=13.5ms, max=62.1ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.1ms, max=3960.1ms
-  task_sampling: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
-  task_specific_sample: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=378.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:24:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:24:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:24:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:24:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:24:23 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:24:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:24:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018062m	[env.py: 870]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:24:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86633862  0.43057142  0.01806195] yaw=-172.2deg	[env.py: 1019]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05117672  0.9075298   0.01806195] yaw=-153.4deg	[env.py: 1019]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87076541  0.34443002  0.01806195] yaw=178.1deg	[env.py: 1019]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:24:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.6ms, total=199.6ms	[env.py: 1075]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.431, 0.018)	[env.py: 1079]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.2 deg	[env.py: 1082]
-05/09 01:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
-05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:24:23 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 01:24:23 INFO: [Worker 0] Worker 0 house 1 episode 28/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:24:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:24:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:24:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:24:24 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.531[m] 86.152[deg]	[grasp_sample.py: 539]
-05/09 01:24:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:24:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:24:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:24:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:24:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:24:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:24:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:24:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:24:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:24:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:24:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:25:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:25:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:25:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:25:48 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:25:49 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:26:08 INFO: [Worker 0] Saved videos eagerly for episode 42 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:26:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:26:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:26:08 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:26:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:26:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:26:12 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:26:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:26:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:26:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.31s (batch: 4.49s, save: 9.82s)	[pipeline.py: 300]
-05/09 01:26:22 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.45s:
-  episode_total: mean=180.23s, total=180.23s, count=1, min=180229.2ms, max=180229.2ms
-  sensor_polling: mean=448.5ms, total=134.55s, count=300, min=395.1ms, max=780.8ms
-  save_trajectories: mean=9.82s, total=9.82s, count=1, min=9822.9ms, max=9822.9ms
-  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.6ms, max=72.5ms
-  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4490.5ms, max=4490.5ms
-  task_sampling: mean=453.2ms, total=453.2ms, count=1, min=453.2ms, max=453.2ms
-  task_specific_sample: mean=450.0ms, total=450.0ms, count=1, min=450.0ms, max=450.0ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=361.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:26:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:26:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:26:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 4.76s, save: 9.92s)	[pipeline.py: 300]
-05/09 01:26:23 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.44s:
-  episode_total: mean=177.69s, total=177.69s, count=1, min=177687.7ms, max=177687.7ms
-  sensor_polling: mean=437.9ms, total=131.37s, count=300, min=388.1ms, max=831.2ms
-  save_trajectories: mean=9.92s, total=9.92s, count=1, min=9917.2ms, max=9917.2ms
-  physics_step: mean=21.1ms, total=6.33s, count=300, min=16.6ms, max=52.2ms
-  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4764.5ms, max=4764.5ms
-  task_sampling: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
-  task_specific_sample: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=367.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:26:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:26:24 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:26:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:26:24 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:26:24 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:26:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:26:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040836m	[env.py: 870]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:26:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07912973  0.04041084  0.04083612] yaw=159.5deg	[env.py: 1019]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1955076   0.98119869  0.04083612] yaw=-132.2deg	[env.py: 1019]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15311999  0.89227894  0.04083612] yaw=-152.5deg	[env.py: 1019]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:26:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.3ms, total=73.4ms	[env.py: 1075]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.079, 0.040, 0.041)	[env.py: 1079]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.5 deg	[env.py: 1082]
-05/09 01:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
-05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:26:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 01:26:24 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:26:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:26:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:26:24 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:26:24 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:26:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:26:25 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.465[m] 85.880[deg]	[grasp_sample.py: 539]
-05/09 01:26:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:26:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:26:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:26:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:26:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:26:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033880m	[env.py: 870]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9818079   0.19617685 -0.03388023] yaw=154.0deg	[env.py: 1019]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08601258  0.24332214 -0.03388023] yaw=159.6deg	[env.py: 1019]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09336218  0.43562393 -0.03388023] yaw=-177.9deg	[env.py: 1019]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:26:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms	[env.py: 1075]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.196, -0.034)	[env.py: 1079]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg	[env.py: 1082]
-05/09 01:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
-05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:26:25 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 01:26:25 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:26:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:26:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:26:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:26:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:26:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.459s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:26:26 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.471[m] 79.494[deg]	[grasp_sample.py: 539]
-05/09 01:26:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:26:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:26:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:26:33 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:26:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:26:33 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/09 01:26:45 INFO: [Worker 0] Worker 0 house 1 episode 28 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:26:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:26:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:26:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.65s (batch: 3.89s, save: 8.76s)	[pipeline.py: 300]
-05/09 01:26:46 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.35s:
-  episode_total: mean=171.39s, total=171.39s, count=1, min=171393.4ms, max=171393.4ms
-  sensor_polling: mean=447.3ms, total=126.58s, count=283, min=386.5ms, max=736.7ms
-  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8763.2ms, max=8763.2ms
-  physics_step: mean=22.2ms, total=6.29s, count=283, min=17.0ms, max=53.3ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3890.8ms, max=3890.8ms
-  task_sampling: mean=345.7ms, total=345.7ms, count=1, min=345.7ms, max=345.7ms
-  task_specific_sample: mean=342.3ms, total=342.3ms, count=1, min=342.3ms, max=342.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=362.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:26:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:26:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:26:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:26:48 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:26:48 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:26:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:26:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007192m	[env.py: 870]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:26:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.27708189  0.94197261 -0.00719225] yaw=-143.3deg	[env.py: 1019]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99039458  0.3663421  -0.00719225] yaw=187.1deg	[env.py: 1019]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.34915778  0.97387325 -0.00719225] yaw=-132.4deg	[env.py: 1019]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:26:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=222.8ms, total=222.9ms	[env.py: 1075]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.277, 0.942, -0.007)	[env.py: 1079]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.3 deg	[env.py: 1082]
-05/09 01:26:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
-05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:26:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:26:49 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:26:49 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:26:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:26:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:26:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:26:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.182s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:26:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.947s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:26:50 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.476[m] 98.040[deg]	[grasp_sample.py: 539]
-05/09 01:26:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:26:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:26:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:27:07 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:27:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:27:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:27:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:27:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:27:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:27:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:27:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:27:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.21s (batch: 3.60s, save: 8.61s)	[pipeline.py: 300]
-05/09 01:27:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:27:20 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.48s:
-  episode_total: mean=177.39s, total=177.39s, count=1, min=177385.5ms, max=177385.5ms
-  sensor_polling: mean=436.6ms, total=130.98s, count=300, min=370.7ms, max=726.3ms
-  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8607.1ms, max=8607.1ms
-  physics_step: mean=23.6ms, total=7.08s, count=300, min=13.6ms, max=53.4ms
-  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3603.4ms, max=3603.4ms
-  task_sampling: mean=477.1ms, total=477.1ms, count=1, min=477.1ms, max=477.1ms
-  task_specific_sample: mean=473.6ms, total=473.6ms, count=1, min=473.6ms, max=473.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=362.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:27:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:27:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:27:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:27:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:27:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:27:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:27:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003606m	[env.py: 870]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:27:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01324464  1.02269651 -0.00360633] yaw=-135.1deg	[env.py: 1019]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.29738997  0.92892701 -0.00360633] yaw=-127.9deg	[env.py: 1019]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85301569  0.20468319 -0.00360633] yaw=178.1deg	[env.py: 1019]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:27:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.3ms	[env.py: 1075]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 1.023, -0.004)	[env.py: 1079]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg	[env.py: 1082]
-05/09 01:27:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:27:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:27:23 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 01:27:23 INFO: [Worker 0] Worker 0 house 1 episode 29/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:27:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:27:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:27:23 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:27:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:27:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:27:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.567s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:27:24 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.681[m] 94.187[deg]	[grasp_sample.py: 539]
-05/09 01:27:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:27:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:27:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:27:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:27:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:27:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:27:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:28:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:28:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:28:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:28:44 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:28:45 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:29:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:29:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:29:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:29:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:29:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:29:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 314 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:29:04 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:29:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:29:04 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
-05/09 01:29:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.421s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:29:05 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.027[m] 0.671[deg]	[grasp_sample.py: 539]
-05/09 01:29:05 INFO: [Worker 0] Saved videos eagerly for episode 43 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:29:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:29:05 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/09 01:29:06 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 01:29:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:29:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:29:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:29:08 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:29:08 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:29:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:29:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038606m	[env.py: 870]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:29:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05605506  0.31732774 -0.03860629] yaw=163.6deg	[env.py: 1019]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09099751  0.34543595 -0.03860629] yaw=175.5deg	[env.py: 1019]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.05970976  0.55536543 -0.03860629] yaw=-161.7deg	[env.py: 1019]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:29:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.2ms	[env.py: 1075]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.056, 0.317, -0.039)	[env.py: 1079]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.6 deg	[env.py: 1082]
-05/09 01:29:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:29:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:29:08 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 01:29:08 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:29:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:29:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:29:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:29:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:29:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.455s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:29:09 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.454[m] 89.433[deg]	[grasp_sample.py: 539]
-05/09 01:29:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:29:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:29:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:29:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:29:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:29:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.55s (batch: 3.74s, save: 9.81s)	[pipeline.py: 300]
-05/09 01:29:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:29:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:29:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.85s (batch: 3.85s, save: 9.00s)	[pipeline.py: 300]
-05/09 01:29:19 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.50s:
-  episode_total: mean=173.88s, total=173.88s, count=1, min=173882.5ms, max=173882.5ms
-  sensor_polling: mean=446.3ms, total=128.97s, count=289, min=402.6ms, max=852.5ms
-  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9810.5ms, max=9810.5ms
-  physics_step: mean=21.0ms, total=6.06s, count=289, min=13.6ms, max=52.5ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3743.6ms, max=3743.6ms
-  task_sampling: mean=500.1ms, total=500.1ms, count=1, min=500.1ms, max=500.1ms
-  task_specific_sample: mean=495.6ms, total=495.6ms, count=1, min=495.6ms, max=495.6ms
-  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
-  mj_forward_sync: mean=526.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:29:19 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.35s:
-  episode_total: mean=175.01s, total=175.01s, count=1, min=175006.1ms, max=175006.1ms
-  sensor_polling: mean=454.8ms, total=130.53s, count=287, min=406.4ms, max=855.9ms
-  save_trajectories: mean=9.00s, total=9.00s, count=1, min=9004.5ms, max=9004.5ms
-  physics_step: mean=21.0ms, total=6.04s, count=287, min=14.2ms, max=69.2ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3845.2ms, max=3845.2ms
-  task_sampling: mean=345.7ms, total=345.7ms, count=1, min=345.7ms, max=345.7ms
-  task_specific_sample: mean=342.5ms, total=342.5ms, count=1, min=342.5ms, max=342.5ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=371.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:29:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:29:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:29:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:29:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:29:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:29:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:29:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:29:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:29:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:29:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021440m	[env.py: 870]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:29:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:29:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:29:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:29:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:29:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049002m	[env.py: 870]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:29:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94505358  0.17641668 -0.04900248] yaw=156.5deg	[env.py: 1019]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07959883  0.61706815  0.02144033] yaw=-157.6deg	[env.py: 1019]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14549542  0.94701477 -0.04900248] yaw=-137.1deg	[env.py: 1019]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97468782  0.56985388  0.02144033] yaw=-180.9deg	[env.py: 1019]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93399626  0.42405558  0.02144033] yaw=180.3deg	[env.py: 1019]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:29:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms	[env.py: 1075]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.080, 0.617, 0.021)	[env.py: 1079]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg	[env.py: 1082]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m	[env.py: 1086]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:29:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.1ms, total=242.1ms	[env.py: 1075]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 0.176, -0.049)	[env.py: 1079]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.5 deg	[env.py: 1082]
-05/09 01:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:29:21 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 01:29:21 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:29:21 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 01:29:21 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:29:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:29:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:29:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:29:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:29:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:29:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:29:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:29:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:29:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.879s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:29:23 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.410[m] 96.923[deg]	[grasp_sample.py: 539]
-05/09 01:29:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:29:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.093s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:29:23 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.604[m] 97.674[deg]	[grasp_sample.py: 539]
-05/09 01:29:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:29:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:29:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:29:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:29:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:29:46 INFO: [Worker 0] Worker 0 house 1 episode 29 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:29:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:30:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:30:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:30:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:30:09 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:30:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:30:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:30:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:30:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:30:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:30:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:30:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 3.94s, save: 8.46s)	[pipeline.py: 300]
-05/09 01:30:23 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.59s:
-  episode_total: mean=180.64s, total=180.64s, count=1, min=180635.7ms, max=180635.7ms
-  sensor_polling: mean=440.6ms, total=132.17s, count=300, min=370.8ms, max=810.1ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.9ms, max=8455.9ms
-  physics_step: mean=21.0ms, total=6.29s, count=300, min=16.9ms, max=41.7ms
-  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3939.8ms, max=3939.8ms
-  task_sampling: mean=593.7ms, total=593.7ms, count=1, min=593.7ms, max=593.7ms
-  task_specific_sample: mean=590.2ms, total=590.2ms, count=1, min=590.2ms, max=590.2ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=434.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:30:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:30:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:30:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:30:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:30:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:30:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:30:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:30:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021368m	[env.py: 870]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:30:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17556951  1.20036799 -0.02136846] yaw=-120.8deg	[env.py: 1019]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01773532  1.02848691 -0.02136846] yaw=-136.3deg	[env.py: 1019]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07140016  0.12766047 -0.02136846] yaw=165.1deg	[env.py: 1019]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:30:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=96.8ms, total=96.9ms	[env.py: 1075]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.176, 1.200, -0.021)	[env.py: 1079]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.8 deg	[env.py: 1082]
-05/09 01:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
-05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:30:25 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:30:25 INFO: [Worker 0] Worker 0 house 1 episode 30/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:30:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:30:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:30:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:30:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.074s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:30:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.956s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:30:27 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.649[m] 91.777[deg]	[grasp_sample.py: 539]
-05/09 01:30:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:30:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:30:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:30:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:30:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:31:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:31:25 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:31:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:31:36 INFO: [Worker 0] Worker 0 house 1 episode 30 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:31:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:31:41 INFO: [Worker 0] Worker 0 house 1 episode 30 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:31:44 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:31:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:31:44 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
-05/09 01:31:48 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:31:48 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.85s:
-  episode_total: mean=149.34s, total=298.68s, count=2, min=138169.1ms, max=160508.9ms
-  sensor_polling: mean=439.9ms, total=242.82s, count=552, min=379.6ms, max=865.2ms
-  physics_step: mean=21.0ms, total=11.61s, count=552, min=13.5ms, max=61.8ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3954.2ms, max=3954.2ms
-  task_sampling: mean=424.7ms, total=849.4ms, count=2, min=366.6ms, max=482.8ms
-  task_specific_sample: mean=421.0ms, total=841.9ms, count=2, min=363.6ms, max=478.3ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
-  mj_forward_sync: mean=427.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:31:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:31:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:31:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:31:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:31:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:31:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:31:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000185m	[env.py: 870]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:31:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.25819792e-01 -5.29464023e-03  1.85267579e-04] yaw=153.7deg	[env.py: 1019]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.27372841e+00  9.29124159e-01  1.85267579e-04] yaw=-145.4deg	[env.py: 1019]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-9.03727348e-01  6.14373196e-01  1.85267579e-04] yaw=-173.2deg	[env.py: 1019]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:31:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.6ms	[env.py: 1075]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, -0.005, 0.000)	[env.py: 1079]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.7 deg	[env.py: 1082]
-05/09 01:31:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:31:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:31:50 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:31:50 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:31:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:31:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:31:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:31:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:31:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.424s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:31:52 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.626[m] 89.395[deg]	[grasp_sample.py: 539]
-05/09 01:31:53 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:31:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:31:53 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/09 01:31:53 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 01:31:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:31:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:31:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:31:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:31:55 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:31:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:31:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045031m	[env.py: 870]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:31:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89181255  0.49993797 -0.04503069] yaw=-177.1deg	[env.py: 1019]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:31:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.5ms, total=256.6ms	[env.py: 1075]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.500, -0.045)	[env.py: 1079]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.1 deg	[env.py: 1082]
-05/09 01:31:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
-05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:31:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:31:55 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:31:55 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:31:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:31:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:31:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:31:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:31:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.370s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:31:57 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.583[m] 96.841[deg]	[grasp_sample.py: 539]
-05/09 01:31:57 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:31:57 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.59s:
-  episode_total: mean=156.11s, total=156.11s, count=1, min=156111.8ms, max=156111.8ms
-  sensor_polling: mean=437.0ms, total=123.24s, count=282, min=393.7ms, max=792.7ms
-  physics_step: mean=20.9ms, total=5.88s, count=282, min=15.7ms, max=33.0ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3732.1ms, max=3732.1ms
-  task_sampling: mean=591.2ms, total=591.2ms, count=1, min=591.2ms, max=591.2ms
-  task_specific_sample: mean=586.5ms, total=586.5ms, count=1, min=586.5ms, max=586.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=709.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
-  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:31:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:31:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:31:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:31:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:31:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:31:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:31:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:31:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:31:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018080m	[env.py: 870]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:31:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10133579  0.25361447 -0.0180803 ] yaw=156.8deg	[env.py: 1019]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02423668  0.6106501  -0.0180803 ] yaw=-159.8deg	[env.py: 1019]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93514156  0.55375264 -0.0180803 ] yaw=-161.4deg	[env.py: 1019]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:31:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.4ms, total=180.4ms	[env.py: 1075]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.101, 0.254, -0.018)	[env.py: 1079]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg	[env.py: 1082]
-05/09 01:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.724m	[env.py: 1086]
-05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:31:59 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 01:31:59 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:31:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:31:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:32:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.396s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:32:00 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.435[m] 93.100[deg]	[grasp_sample.py: 539]
-05/09 01:32:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:32:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:32:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:00 INFO: [Worker 0] Saved videos eagerly for episode 44 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:32:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:32:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:32:04 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:32:04 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.57s:
-  episode_total: mean=163.15s, total=163.15s, count=1, min=163154.9ms, max=163154.9ms
-  sensor_polling: mean=431.5ms, total=129.45s, count=300, min=381.1ms, max=848.2ms
-  physics_step: mean=19.3ms, total=5.78s, count=300, min=15.6ms, max=43.0ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3793.9ms, max=3793.9ms
-  task_sampling: mean=565.9ms, total=565.9ms, count=1, min=565.9ms, max=565.9ms
-  task_specific_sample: mean=561.5ms, total=561.5ms, count=1, min=561.5ms, max=561.5ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=561.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:32:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:32:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:32:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:32:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:32:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019464m	[env.py: 870]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.28788192  1.00949191  0.0194642 ] yaw=-126.3deg	[env.py: 1019]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14126777  0.77205757  0.0194642 ] yaw=-141.3deg	[env.py: 1019]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09107488  0.37896389  0.0194642 ] yaw=170.2deg	[env.py: 1019]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:32:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.8ms, total=65.8ms	[env.py: 1075]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.288, 1.009, 0.019)	[env.py: 1079]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg	[env.py: 1082]
-05/09 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
-05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:32:06 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 01:32:06 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:32:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:32:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:32:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:32:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:32:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:32:06 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.398[m] 79.674[deg]	[grasp_sample.py: 539]
-05/09 01:32:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:32:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:32:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:32:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:32:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:32:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:32:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:32:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 338 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:32:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.399s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:32:27 INFO: [Worker 0] Feasible grasp found 229 (originally 35): w/ 0.062[m] 22.342[deg]	[grasp_sample.py: 539]
-05/09 01:32:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:32:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:32:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:32:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:47 INFO: [Worker 0] Worker 0 house 1 episode 30 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=False	[pipeline.py: 1108]
-05/09 01:32:47 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=0.39s:
-  episode_total: mean=142.66s, total=142.66s, count=1, min=142660.8ms, max=142660.8ms
-  sensor_polling: mean=410.1ms, total=123.03s, count=300, min=375.4ms, max=583.1ms
-  physics_step: mean=18.8ms, total=5.64s, count=300, min=16.9ms, max=30.4ms
-  task_sampling: mean=388.9ms, total=388.9ms, count=1, min=388.9ms, max=388.9ms
-  task_specific_sample: mean=382.1ms, total=382.1ms, count=1, min=382.1ms, max=382.1ms
-  scene_randomize: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
-  mj_forward_sync: mean=566.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:32:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:32:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:32:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:32:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:32:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:32:49 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:32:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:32:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048142m	[env.py: 870]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:32:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15314639  0.16669564  0.04814197] yaw=150.3deg	[env.py: 1019]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07525261  0.08937464  0.04814197] yaw=164.3deg	[env.py: 1019]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1510926   1.161032    0.04814197] yaw=-123.2deg	[env.py: 1019]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:32:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.3ms, total=146.4ms	[env.py: 1075]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.153, 0.167, 0.048)	[env.py: 1079]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.3 deg	[env.py: 1082]
-05/09 01:32:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.701m	[env.py: 1086]
-05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:32:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:32:49 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:32:49 INFO: [Worker 0] Worker 0 house 1 episode 31/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:32:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:32:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:32:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:32:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:32:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:32:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.403s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:32:50 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.322[m] 81.795[deg]	[grasp_sample.py: 539]
-05/09 01:32:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:32:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:32:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:32:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:33:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:33:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:33:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:33:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:34:10 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:34:12 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:34:18 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:34:27 INFO: [Worker 0] Saved videos eagerly for episode 45 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:34:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:34:27 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
-05/09 01:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:34:31 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:34:31 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.32s:
-  episode_total: mean=144.92s, total=144.92s, count=1, min=144919.8ms, max=144919.8ms
-  sensor_polling: mean=422.6ms, total=115.80s, count=274, min=399.6ms, max=706.5ms
-  physics_step: mean=19.3ms, total=5.27s, count=274, min=13.6ms, max=40.4ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.9ms, max=3729.9ms
-  task_sampling: mean=315.8ms, total=315.8ms, count=1, min=315.8ms, max=315.8ms
-  task_specific_sample: mean=312.2ms, total=312.2ms, count=1, min=312.2ms, max=312.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=384.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:34:31 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:34:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:34:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:34:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:34:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:34:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:34:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:34:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:34:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:34:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003644m	[env.py: 870]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:34:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:34:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:34:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01656528  0.25259177 -0.00364397] yaw=164.2deg	[env.py: 1019]
-05/09 01:34:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:34:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.13385509  0.08324448 -0.00364397] yaw=158.8deg	[env.py: 1019]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:34:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms	[env.py: 1075]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.017, 0.253, -0.004)	[env.py: 1079]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg	[env.py: 1082]
-05/09 01:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
-05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:34:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.101s, found 318 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:34:33 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:34:33 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:34:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:34:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:34:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:34:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:34:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:34:33 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.511[m] 100.830[deg]	[grasp_sample.py: 539]
-05/09 01:34:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:34:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:34:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:34:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.484s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:34:34 INFO: [Worker 0] Feasible grasp found 346 (originally 152): w/ 0.100[m] 0.165[deg]	[grasp_sample.py: 539]
-05/09 01:34:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:34:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:34:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:34:35 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:34:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:34:35 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/09 01:34:35 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:34:35 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.97s:
-  episode_total: mean=81.98s, total=163.97s, count=2, min=3423.4ms, max=160545.4ms
-  sensor_polling: mean=422.4ms, total=126.71s, count=300, min=393.9ms, max=765.5ms
-  physics_step: mean=19.7ms, total=5.92s, count=300, min=14.1ms, max=36.9ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.8ms, max=3970.8ms
-  task_sampling: mean=486.1ms, total=972.2ms, count=2, min=464.2ms, max=507.9ms
-  task_specific_sample: mean=482.8ms, total=965.7ms, count=2, min=460.6ms, max=505.1ms
-  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
-  mj_forward_sync: mean=363.6us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=23.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:34:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:34:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:34:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:34:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:34:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:34:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:34:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013398m	[env.py: 870]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:34:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97621404  0.91653744 -0.01339761] yaw=-141.6deg	[env.py: 1019]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03476821  0.39996678 -0.01339761] yaw=168.9deg	[env.py: 1019]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85187496  0.47970489 -0.01339761] yaw=-183.1deg	[env.py: 1019]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:34:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.5ms, total=100.5ms	[env.py: 1075]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.976, 0.917, -0.013)	[env.py: 1079]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg	[env.py: 1082]
-05/09 01:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
-05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:34:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 01:34:37 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:34:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:34:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:34:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:34:38 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:34:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.625s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:34:38 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.571[m] 89.332[deg]	[grasp_sample.py: 539]
-05/09 01:34:38 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:34:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:34:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:34:39 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:34:39 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.47s:
-  episode_total: mean=160.67s, total=160.67s, count=1, min=160672.2ms, max=160672.2ms
-  sensor_polling: mean=427.4ms, total=122.23s, count=286, min=396.1ms, max=726.3ms
-  physics_step: mean=19.3ms, total=5.52s, count=286, min=13.6ms, max=29.4ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3859.2ms, max=3859.2ms
-  task_sampling: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms
-  task_specific_sample: mean=466.1ms, total=466.1ms, count=1, min=466.1ms, max=466.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=365.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:34:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:34:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:34:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:34:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:34:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:34:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:34:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001431m	[env.py: 870]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:34:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.28166713  0.91512529 -0.00143087] yaw=-134.7deg	[env.py: 1019]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08694709  0.98958386 -0.00143087] yaw=-143.9deg	[env.py: 1019]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83503449  0.49553331 -0.00143087] yaw=-179.2deg	[env.py: 1019]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:34:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.3ms, total=159.4ms	[env.py: 1075]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.282, 0.915, -0.001)	[env.py: 1079]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.7 deg	[env.py: 1082]
-05/09 01:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.716m	[env.py: 1086]
-05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:34:41 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 01:34:41 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:34:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:34:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:34:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:34:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:34:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.366s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:34:42 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.361[m] 84.443[deg]	[grasp_sample.py: 539]
-05/09 01:34:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:34:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:34:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:34:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:34:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:34:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:35:13 INFO: [Worker 0] Worker 0 house 1 episode 31 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:35:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:35:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:35:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:35:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:35:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:35:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:35:31 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:35:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:35:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:35:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:35:34 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:35:34 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.37s:
-  episode_total: mean=165.64s, total=165.64s, count=1, min=165635.5ms, max=165635.5ms
-  sensor_polling: mean=417.0ms, total=125.09s, count=300, min=376.8ms, max=664.8ms
-  physics_step: mean=19.0ms, total=5.71s, count=300, min=13.6ms, max=30.6ms
-  save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3511.2ms, max=3511.2ms
-  task_sampling: mean=370.3ms, total=370.3ms, count=1, min=370.3ms, max=370.3ms
-  task_specific_sample: mean=367.1ms, total=367.1ms, count=1, min=367.1ms, max=367.1ms
-  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
-  mj_forward_sync: mean=361.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:35:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:35:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:35:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:35:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:35:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:35:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:35:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000945m	[env.py: 870]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:35:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13189940e+00  7.00636504e-01  9.44887066e-04] yaw=-162.4deg	[env.py: 1019]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.47858426e-01  7.81759331e-01  9.44887066e-04] yaw=-168.3deg	[env.py: 1019]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.22461240e+00  1.08387260e+00  9.44887066e-04] yaw=-142.6deg	[env.py: 1019]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:35:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.5ms, total=174.5ms	[env.py: 1075]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.132, 0.701, 0.001)	[env.py: 1079]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg	[env.py: 1082]
-05/09 01:35:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.727m	[env.py: 1086]
-05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:35:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:35:37 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 01:35:37 INFO: [Worker 0] Worker 0 house 1 episode 32/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:35:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:35:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:35:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:35:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:35:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.381s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:35:37 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.422[m] 95.709[deg]	[grasp_sample.py: 539]
-05/09 01:35:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:35:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:35:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:35:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:35:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:36:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:36:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:36:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:36:44 INFO: [Worker 0] Worker 0 house 1 episode 32 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:36:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:36:53 INFO: [Worker 0] Worker 0 house 1 episode 32 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:36:55 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:37:00 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:37:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:37:00 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
-05/09 01:37:04 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:37:04 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.41s:
-  episode_total: mean=143.15s, total=143.15s, count=1, min=143151.9ms, max=143151.9ms
-  sensor_polling: mean=427.6ms, total=115.03s, count=269, min=406.0ms, max=669.4ms
-  physics_step: mean=19.3ms, total=5.19s, count=269, min=13.7ms, max=30.4ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3641.3ms, max=3641.3ms
-  task_sampling: mean=409.1ms, total=409.1ms, count=1, min=409.1ms, max=409.1ms
-  task_specific_sample: mean=405.5ms, total=405.5ms, count=1, min=405.5ms, max=405.5ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=375.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:37:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:37:06 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:37:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:37:06 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:37:06 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:37:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:37:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001949m	[env.py: 870]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:37:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1513657   1.09073963 -0.00194938] yaw=-138.4deg	[env.py: 1019]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0885529   1.08628214 -0.00194938] yaw=-131.9deg	[env.py: 1019]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:37:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.9ms, total=167.9ms	[env.py: 1075]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.151, 1.091, -0.002)	[env.py: 1079]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg	[env.py: 1082]
-05/09 01:37:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
-05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:37:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:37:06 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:37:06 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:37:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:37:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:37:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:37:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.084s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:37:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:37:07 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.584[m] 90.170[deg]	[grasp_sample.py: 539]
-05/09 01:37:07 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:37:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:37:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:37:11 INFO: [Worker 0] Saved videos eagerly for episode 46 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:37:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:37:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:37:14 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:37:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:37:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:37:15 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:37:15 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.40s:
-  episode_total: mean=163.11s, total=163.11s, count=1, min=163109.6ms, max=163109.6ms
-  sensor_polling: mean=428.9ms, total=128.66s, count=300, min=405.7ms, max=773.9ms
-  physics_step: mean=21.0ms, total=6.31s, count=300, min=13.4ms, max=31.4ms
-  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3886.8ms, max=3886.8ms
-  task_sampling: mean=395.7ms, total=395.7ms, count=1, min=395.7ms, max=395.7ms
-  task_specific_sample: mean=392.2ms, total=392.2ms, count=1, min=392.2ms, max=392.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=381.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:37:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:37:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:37:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:37:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:37:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:37:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:37:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015246m	[env.py: 870]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:37:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07290837  0.05443653 -0.01524635] yaw=148.1deg	[env.py: 1019]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95713244  0.69044965 -0.01524635] yaw=-171.0deg	[env.py: 1019]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.17743395  1.02205548 -0.01524635] yaw=-143.5deg	[env.py: 1019]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:37:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.2ms, total=91.2ms	[env.py: 1075]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.073, 0.054, -0.015)	[env.py: 1079]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.1 deg	[env.py: 1082]
-05/09 01:37:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
-05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:37:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:37:17 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 01:37:17 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:37:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:37:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:37:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:37:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:37:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.418s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:37:18 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.457[m] 86.002[deg]	[grasp_sample.py: 539]
-05/09 01:37:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:37:18 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:37:18 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.36s:
-  episode_total: mean=161.15s, total=161.15s, count=1, min=161151.9ms, max=161151.9ms
-  sensor_polling: mean=422.7ms, total=126.81s, count=300, min=389.6ms, max=778.8ms
-  physics_step: mean=19.5ms, total=5.84s, count=300, min=13.5ms, max=28.0ms
-  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4007.2ms, max=4007.2ms
-  task_sampling: mean=358.9ms, total=358.9ms, count=1, min=358.9ms, max=358.9ms
-  task_specific_sample: mean=355.3ms, total=355.3ms, count=1, min=355.3ms, max=355.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=363.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:37:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:37:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:37:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:37:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:37:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:37:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:37:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:37:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:37:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026812m	[env.py: 870]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:37:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91549266  0.19673157 -0.0268117 ] yaw=169.1deg	[env.py: 1019]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.34375585  0.96432798 -0.0268117 ] yaw=-133.6deg	[env.py: 1019]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:37:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms	[env.py: 1075]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.197, -0.027)	[env.py: 1079]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
-05/09 01:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
-05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:37:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:37:20 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 01:37:20 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:37:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:37:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:37:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:37:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:37:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:37:21 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.583[m] 90.672[deg]	[grasp_sample.py: 539]
-05/09 01:37:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:37:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:37:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:37:44 INFO: [Worker 0] Worker 0 house 1 episode 32 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:38:01 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:38:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:38:01 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/09 01:38:05 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:38:05 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.46s:
-  episode_total: mean=148.79s, total=148.79s, count=1, min=148786.5ms, max=148786.5ms
-  sensor_polling: mean=421.5ms, total=118.87s, count=282, min=381.1ms, max=613.8ms
-  physics_step: mean=19.5ms, total=5.49s, count=282, min=13.6ms, max=27.9ms
-  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3531.4ms, max=3531.4ms
-  task_sampling: mean=459.9ms, total=459.9ms, count=1, min=459.9ms, max=459.9ms
-  task_specific_sample: mean=456.3ms, total=456.3ms, count=1, min=456.3ms, max=456.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=412.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:38:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:38:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:38:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:38:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:38:07 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:38:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:38:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049564m	[env.py: 870]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:38:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03588667  0.59808851  0.04956366] yaw=-171.9deg	[env.py: 1019]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0313047   0.07193354  0.04956366] yaw=147.4deg	[env.py: 1019]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:38:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.6ms, total=207.7ms	[env.py: 1075]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 0.598, 0.050)	[env.py: 1079]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.9 deg	[env.py: 1082]
-05/09 01:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
-05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:38:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:38:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:38:07 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 01:38:07 INFO: [Worker 0] Worker 0 house 1 episode 33/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:38:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:38:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:38:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:38:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:38:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:38:08 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.443[m] 96.513[deg]	[grasp_sample.py: 539]
-05/09 01:38:08 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:38:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:38:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:38:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:38:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:38:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:38:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:38:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:38:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:38:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:39:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:39:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:39:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:39:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:39:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:39:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:39:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 330 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:39:27 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:39:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.506s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:39:27 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.051[m] 4.436[deg]	[grasp_sample.py: 539]
-05/09 01:39:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:39:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:39:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:39:30 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:39:36 INFO: [Worker 0] Worker 0 house 1 episode 35 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:39:44 INFO: [Worker 0] Saved videos eagerly for episode 47 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:39:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:39:44 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/09 01:39:48 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:39:48 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.35s:
-  episode_total: mean=151.59s, total=151.59s, count=1, min=151588.1ms, max=151588.1ms
-  sensor_polling: mean=422.6ms, total=121.29s, count=287, min=402.8ms, max=738.1ms
-  physics_step: mean=18.5ms, total=5.30s, count=287, min=13.4ms, max=25.9ms
-  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3957.0ms, max=3957.0ms
-  task_sampling: mean=353.9ms, total=353.9ms, count=1, min=353.9ms, max=353.9ms
-  task_specific_sample: mean=350.6ms, total=350.6ms, count=1, min=350.6ms, max=350.6ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:39:49 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:39:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:39:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:39:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:39:50 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:39:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:39:50 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:39:50 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:39:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:39:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001944m	[env.py: 870]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:39:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08905785  0.31846323  0.00194353] yaw=175.2deg	[env.py: 1019]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13200008  1.13312117  0.00194353] yaw=-131.8deg	[env.py: 1019]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15184326  0.14864582  0.00194353] yaw=159.9deg	[env.py: 1019]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:39:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.5ms, total=76.5ms	[env.py: 1075]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.089, 0.318, 0.002)	[env.py: 1079]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg	[env.py: 1082]
-05/09 01:39:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.723m	[env.py: 1086]
-05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:39:50 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 01:39:50 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:39:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:39:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:39:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:39:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:39:51 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.416[m] 94.773[deg]	[grasp_sample.py: 539]
-05/09 01:39:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:39:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:39:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:39:53 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:39:53 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.44s:
-  episode_total: mean=167.33s, total=167.33s, count=1, min=167326.5ms, max=167326.5ms
-  sensor_polling: mean=422.0ms, total=126.60s, count=300, min=387.6ms, max=790.8ms
-  physics_step: mean=19.3ms, total=5.78s, count=300, min=13.8ms, max=29.9ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4023.2ms, max=4023.2ms
-  task_sampling: mean=440.0ms, total=440.0ms, count=1, min=440.0ms, max=440.0ms
-  task_specific_sample: mean=436.5ms, total=436.5ms, count=1, min=436.5ms, max=436.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=370.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:39:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:39:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:39:54 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:39:54 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:39:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008744m	[env.py: 870]
-05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03296663  0.14379029  0.00874432] yaw=162.8deg	[env.py: 1019]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0644844   0.13617148  0.00874432] yaw=159.7deg	[env.py: 1019]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97923445  0.19195442  0.00874432] yaw=169.0deg	[env.py: 1019]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:39:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.2ms	[env.py: 1075]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.144, 0.009)	[env.py: 1079]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
-05/09 01:39:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
-05/09 01:39:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:39:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:39:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:39:55 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 01:39:55 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:39:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:39:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:39:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:39:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:39:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:39:55 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.503[m] 93.649[deg]	[grasp_sample.py: 539]
-05/09 01:39:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:39:56 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:39:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:39:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:39:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:39:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:39:59 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:39:59 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.42s:
-  episode_total: mean=159.76s, total=159.76s, count=1, min=159761.7ms, max=159761.7ms
-  sensor_polling: mean=422.8ms, total=126.84s, count=300, min=394.0ms, max=705.0ms
-  physics_step: mean=18.9ms, total=5.68s, count=300, min=13.9ms, max=30.1ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3782.1ms, max=3782.1ms
-  task_sampling: mean=420.1ms, total=420.1ms, count=1, min=420.1ms, max=420.1ms
-  task_specific_sample: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=368.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:40:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:40:01 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:40:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:40:01 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:40:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:40:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:40:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022053m	[env.py: 870]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:40:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97938951  0.60379342 -0.02205298] yaw=-174.0deg	[env.py: 1019]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05295891  0.12427423 -0.02205298] yaw=147.2deg	[env.py: 1019]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.16412557  0.92102921 -0.02205298] yaw=-152.9deg	[env.py: 1019]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:40:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.8ms	[env.py: 1075]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.604, -0.022)	[env.py: 1079]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg	[env.py: 1082]
-05/09 01:40:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
-05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:40:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:40:01 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 01:40:01 INFO: [Worker 0] Worker 0 house 1 episode 36/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:40:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:40:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:40:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:40:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:40:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:40:02 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.482[m] 90.882[deg]	[grasp_sample.py: 539]
-05/09 01:40:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:40:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:40:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:40:19 INFO: [Worker 0] Worker 0 house 1 episode 33 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:40:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:40:36 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:40:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:40:36 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/09 01:40:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:40:40 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:40:40 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.45s:
-  episode_total: mean=153.29s, total=153.29s, count=1, min=153289.4ms, max=153289.4ms
-  sensor_polling: mean=429.4ms, total=122.80s, count=286, min=381.4ms, max=635.6ms
-  physics_step: mean=20.3ms, total=5.80s, count=286, min=13.9ms, max=31.4ms
-  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3318.4ms, max=3318.4ms
-  task_sampling: mean=447.1ms, total=447.1ms, count=1, min=447.1ms, max=447.1ms
-  task_specific_sample: mean=443.6ms, total=443.6ms, count=1, min=443.6ms, max=443.6ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=364.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:40:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:40:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:40:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:40:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:40:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:40:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:40:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002845m	[env.py: 870]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:40:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98412715  0.0052978  -0.0028445 ] yaw=148.0deg	[env.py: 1019]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04331703  0.9821317  -0.0028445 ] yaw=-140.8deg	[env.py: 1019]
-05/09 01:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.823884    0.31423076 -0.0028445 ] yaw=163.6deg	[env.py: 1019]
-05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:40:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.9ms, total=209.9ms	[env.py: 1075]
-05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.984, 0.005, -0.003)	[env.py: 1079]
-05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.0 deg	[env.py: 1082]
-05/09 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
-05/09 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:40:42 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 01:40:42 INFO: [Worker 0] Worker 0 house 1 episode 34/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:40:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:40:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:40:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:40:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:40:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:40:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:40:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.119s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:40:43 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.544[m] 88.655[deg]	[grasp_sample.py: 539]
-05/09 01:40:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:40:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:40:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:40:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:40:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:40:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:40:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:40:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:41:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:41:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:41:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:42:07 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:42:12 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:42:15 INFO: [Worker 0] Worker 0 house 1 episode 36 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:42:24 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:42:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:42:24 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
-05/09 01:42:28 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:42:28 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.36s:
-  episode_total: mean=158.29s, total=158.29s, count=1, min=158285.1ms, max=158285.1ms
-  sensor_polling: mean=430.8ms, total=121.48s, count=282, min=405.7ms, max=772.1ms
-  physics_step: mean=21.6ms, total=6.08s, count=282, min=13.3ms, max=37.5ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3883.2ms, max=3883.2ms
-  task_sampling: mean=362.6ms, total=362.6ms, count=1, min=362.6ms, max=362.6ms
-  task_specific_sample: mean=359.2ms, total=359.2ms, count=1, min=359.2ms, max=359.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=369.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:42:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:42:30 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:42:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:42:30 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:42:30 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:42:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:42:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012146m	[env.py: 870]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:42:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.28162756  1.0528551   0.01214628] yaw=-120.3deg	[env.py: 1019]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90983678 -0.01778759  0.01214628] yaw=145.7deg	[env.py: 1019]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1125709   1.08641028  0.01214628] yaw=-125.0deg	[env.py: 1019]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:42:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.0ms, total=110.0ms	[env.py: 1075]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.282, 1.053, 0.012)	[env.py: 1079]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.3 deg	[env.py: 1082]
-05/09 01:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
-05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:42:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 01:42:30 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:42:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:42:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:42:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:42:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:42:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:42:31 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.427[m] 85.024[deg]	[grasp_sample.py: 539]
-05/09 01:42:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:42:31 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:42:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:42:31 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/09 01:42:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:42:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:42:35 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:42:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:42:35 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/09 01:42:35 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:42:35 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.47s:
-  episode_total: mean=160.28s, total=160.28s, count=1, min=160282.5ms, max=160282.5ms
-  sensor_polling: mean=432.5ms, total=128.88s, count=298, min=408.4ms, max=666.8ms
-  physics_step: mean=19.4ms, total=5.78s, count=298, min=13.5ms, max=30.4ms
-  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3782.1ms, max=3782.1ms
-  task_sampling: mean=471.5ms, total=471.5ms, count=1, min=471.5ms, max=471.5ms
-  task_specific_sample: mean=467.9ms, total=467.9ms, count=1, min=467.9ms, max=467.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=379.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:42:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:42:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:42:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:42:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:42:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:42:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:42:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009722m	[env.py: 870]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:42:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9524334   0.26140643 -0.0097223 ] yaw=175.3deg	[env.py: 1019]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09655838  1.12994042 -0.0097223 ] yaw=-146.5deg	[env.py: 1019]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.08605722  0.71131797 -0.0097223 ] yaw=-164.0deg	[env.py: 1019]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:42:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.7ms, total=154.7ms	[env.py: 1075]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.261, -0.010)	[env.py: 1079]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg	[env.py: 1082]
-05/09 01:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
-05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:42:37 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 01:42:37 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:42:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:42:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:42:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:42:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:42:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.384s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:42:37 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.491[m] 85.990[deg]	[grasp_sample.py: 539]
-05/09 01:42:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:42:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:42:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:42:38 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:42:39 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.46s:
-  episode_total: mean=157.50s, total=157.50s, count=1, min=157496.6ms, max=157496.6ms
-  sensor_polling: mean=424.9ms, total=124.91s, count=294, min=390.8ms, max=782.3ms
-  physics_step: mean=20.0ms, total=5.88s, count=294, min=13.6ms, max=30.7ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3852.5ms, max=3852.5ms
-  task_sampling: mean=463.1ms, total=463.1ms, count=1, min=463.1ms, max=463.1ms
-  task_specific_sample: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=365.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:42:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:42:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:42:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:42:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:42:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:42:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026674m	[env.py: 870]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:42:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04851507  1.02793939  0.02667431] yaw=-136.9deg	[env.py: 1019]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.16042748  1.05136452  0.02667431] yaw=-145.7deg	[env.py: 1019]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=214.9ms	[env.py: 1075]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.028, 0.027)	[env.py: 1079]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.9 deg	[env.py: 1082]
-05/09 01:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
-05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:42:41 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 01:42:41 INFO: [Worker 0] Worker 0 house 1 episode 37/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:42:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:42:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:42:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:42:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:42:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.439s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:42:42 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.595[m] 86.040[deg]	[grasp_sample.py: 539]
-05/09 01:42:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:42:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:42:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:42:59 INFO: [Worker 0] Worker 0 house 1 episode 34 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:43:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:43:16 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:43:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:43:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:43:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:43:20 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
-05/09 01:43:20 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.45s:
-  episode_total: mean=158.60s, total=158.60s, count=1, min=158604.7ms, max=158604.7ms
-  sensor_polling: mean=424.5ms, total=127.35s, count=300, min=383.3ms, max=667.1ms
-  physics_step: mean=19.4ms, total=5.81s, count=300, min=13.6ms, max=31.6ms
-  save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3465.3ms, max=3465.3ms
-  task_sampling: mean=451.4ms, total=451.4ms, count=1, min=451.4ms, max=451.4ms
-  task_specific_sample: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=372.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:43:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:43:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:43:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:43:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:43:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:43:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:43:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:43:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041229m	[env.py: 870]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:43:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05987797  0.12422825  0.0412294 ] yaw=155.0deg	[env.py: 1019]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17407448  1.10564812  0.0412294 ] yaw=-132.1deg	[env.py: 1019]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:43:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94438727  0.31750955  0.0412294 ] yaw=182.3deg	[env.py: 1019]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:43:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.6ms, total=75.7ms	[env.py: 1075]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.060, 0.124, 0.041)	[env.py: 1079]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.0 deg	[env.py: 1082]
-05/09 01:43:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:43:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:43:22 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 01:43:22 INFO: [Worker 0] Worker 0 house 1 episode 35/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:43:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:43:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:43:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:43:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:43:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.448s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:43:22 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.472[m] 97.374[deg]	[grasp_sample.py: 539]
-05/09 01:43:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:43:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:43:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:43:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:43:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:43:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:43:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:43:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:44:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:44:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:44:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:44:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:44:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:44:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:44:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:44:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.407s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:44:44 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.045[m] 0.438[deg]	[grasp_sample.py: 539]
-05/09 01:44:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:44:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:44:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:44:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:44:54 INFO: [Worker 0] Worker 0 house 1 episode 35 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:44:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:44:58 INFO: [Worker 0] Worker 0 house 1 episode 35 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:45:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:45:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:45:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:45:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:45:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:45:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:45:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.597s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:45:09 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.090[m] 1.801[deg]	[grasp_sample.py: 539]
-05/09 01:45:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:45:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:45:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:45:10 INFO: [Worker 0] Worker 0 house 1 episode 37 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:45:13 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:45:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:45:13 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/09 01:45:21 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:45:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:45:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:45:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:45:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:45:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.55s (batch: 4.12s, save: 9.43s)	[pipeline.py: 300]
-05/09 01:45:27 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.41s:
-  episode_total: mean=171.01s, total=171.01s, count=1, min=171012.9ms, max=171012.9ms
-  sensor_polling: mean=437.3ms, total=128.13s, count=293, min=404.1ms, max=798.2ms
-  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9433.4ms, max=9433.4ms
-  physics_step: mean=20.4ms, total=5.99s, count=293, min=13.7ms, max=36.9ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4118.4ms, max=4118.4ms
-  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
-  task_specific_sample: mean=403.2ms, total=403.2ms, count=1, min=403.2ms, max=403.2ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=380.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:45:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:45:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:45:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:45:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:45:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:45:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:45:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047786m	[env.py: 870]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:45:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21793035  1.02354498  0.04778641] yaw=-129.4deg	[env.py: 1019]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.2228573   0.95381093  0.04778641] yaw=-128.1deg	[env.py: 1019]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85140936  0.14079312  0.04778641] yaw=158.6deg	[env.py: 1019]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:45:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=62.3ms, total=62.3ms	[env.py: 1075]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.218, 1.024, 0.048)	[env.py: 1079]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.4 deg	[env.py: 1082]
-05/09 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
-05/09 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:45:29 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 01:45:29 INFO: [Worker 0] Worker 0 house 1 episode 36/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:45:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:45:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:45:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:45:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:45:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.442s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:45:30 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.495[m] 89.741[deg]	[grasp_sample.py: 539]
-05/09 01:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:45:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:45:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:45:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:45:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:45:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.62s (batch: 4.37s, save: 8.25s)	[pipeline.py: 300]
-05/09 01:45:34 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:45:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:45:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:45:34 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.36s:
-  episode_total: mean=184.30s, total=184.30s, count=1, min=184300.8ms, max=184300.8ms
-  sensor_polling: mean=434.3ms, total=130.30s, count=300, min=386.5ms, max=842.9ms
-  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8250.3ms, max=8250.3ms
-  physics_step: mean=19.7ms, total=5.91s, count=300, min=13.7ms, max=49.8ms
-  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.1ms, max=4374.1ms
-  task_sampling: mean=363.8ms, total=363.8ms, count=1, min=363.8ms, max=363.8ms
-  task_specific_sample: mean=360.6ms, total=360.6ms, count=1, min=360.6ms, max=360.6ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=364.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:45:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:45:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:45:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:45:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:45:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:45:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:45:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006059m	[env.py: 870]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:45:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99373298  0.36126816 -0.00605932] yaw=174.8deg	[env.py: 1019]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15282428  0.91115359 -0.00605932] yaw=-134.2deg	[env.py: 1019]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84346528  0.4843217  -0.00605932] yaw=-177.0deg	[env.py: 1019]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:45:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.3ms, total=86.3ms	[env.py: 1075]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.361, -0.006)	[env.py: 1079]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.8 deg	[env.py: 1082]
-05/09 01:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
-05/09 01:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:45:36 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 01:45:36 INFO: [Worker 0] Worker 0 house 1 episode 36/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:45:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:45:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:45:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:45:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:45:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.456s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:45:37 INFO: [Worker 0] Feasible grasp found 363 (originally 169): w/ 0.445[m] 86.398[deg]	[grasp_sample.py: 539]
-05/09 01:45:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:45:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:45:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:45:38 INFO: [Worker 0] Worker 0 house 1 episode 35 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:45:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:45:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:45:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.03s (batch: 3.92s, save: 8.11s)	[pipeline.py: 300]
-05/09 01:45:46 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.47s:
-  episode_total: mean=186.36s, total=186.36s, count=1, min=186357.0ms, max=186357.0ms
-  sensor_polling: mean=428.4ms, total=128.51s, count=300, min=387.4ms, max=811.5ms
-  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8114.2ms, max=8114.2ms
-  physics_step: mean=19.7ms, total=5.92s, count=300, min=13.6ms, max=50.6ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3915.8ms, max=3915.8ms
-  task_sampling: mean=466.7ms, total=466.7ms, count=1, min=466.7ms, max=466.7ms
-  task_specific_sample: mean=463.2ms, total=463.2ms, count=1, min=463.2ms, max=463.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=369.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:45:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:45:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:45:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:45:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:45:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:45:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:45:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:45:48 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:45:48 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:45:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:45:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005001m	[env.py: 870]
-05/09 01:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:45:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09641573  0.55452926  0.00500143] yaw=-178.0deg	[env.py: 1019]
-05/09 01:45:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.25737807  0.91477482  0.00500143] yaw=-149.0deg	[env.py: 1019]
-05/09 01:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14590486  0.6741866   0.00500143] yaw=-150.9deg	[env.py: 1019]
-05/09 01:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:45:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=439.3ms, total=439.3ms	[env.py: 1075]
-05/09 01:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.096, 0.555, 0.005)	[env.py: 1079]
-05/09 01:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.0 deg	[env.py: 1082]
-05/09 01:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.720m	[env.py: 1086]
-05/09 01:45:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:45:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:45:49 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:45:49 INFO: [Worker 0] Worker 0 house 1 episode 38/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:45:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:45:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:45:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:45:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:45:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.804s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:45:50 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.360[m] 80.886[deg]	[grasp_sample.py: 539]
-05/09 01:45:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:45:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:45:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:46:02 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:46:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:46:02 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/09 01:46:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:46:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:46:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.15s (batch: 3.54s, save: 8.62s)	[pipeline.py: 300]
-05/09 01:46:15 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.32s:
-  episode_total: mean=173.52s, total=173.52s, count=1, min=173518.5ms, max=173518.5ms
-  sensor_polling: mean=435.1ms, total=127.04s, count=292, min=373.6ms, max=820.9ms
-  save_trajectories: mean=8.62s, total=8.62s, count=1, min=8618.2ms, max=8618.2ms
-  physics_step: mean=20.7ms, total=6.03s, count=292, min=14.3ms, max=41.9ms
-  save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3535.5ms, max=3535.5ms
-  task_sampling: mean=321.3ms, total=321.3ms, count=1, min=321.3ms, max=321.3ms
-  task_specific_sample: mean=317.7ms, total=317.7ms, count=1, min=317.7ms, max=317.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=374.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:46:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:46:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:46:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:46:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:46:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:46:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:46:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:46:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020633m	[env.py: 870]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:46:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11821556  0.24010089 -0.02063303] yaw=170.6deg	[env.py: 1019]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99136407  0.8809413  -0.02063303] yaw=-153.5deg	[env.py: 1019]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93174393  0.33602495 -0.02063303] yaw=174.6deg	[env.py: 1019]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:46:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.2ms, total=155.2ms	[env.py: 1075]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.118, 0.240, -0.021)	[env.py: 1079]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg	[env.py: 1082]
-05/09 01:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.711m	[env.py: 1086]
-05/09 01:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:46:17 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 01:46:17 INFO: [Worker 0] Worker 0 house 1 episode 36/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:46:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:46:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:46:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:46:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:46:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:46:18 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.427[m] 91.768[deg]	[grasp_sample.py: 539]
-05/09 01:46:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:46:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:46:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:46:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:46:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:46:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:46:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:46:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:46:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:46:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:46:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:47:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:47:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:47:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:47:51 INFO: [Worker 0] Worker 0 house 1 episode 36 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:47:55 INFO: [Worker 0] Worker 0 house 1 episode 36 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:48:01 INFO: [Worker 0] Worker 0 house 1 episode 38 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:48:11 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:48:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:48:11 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/09 01:48:15 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:48:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:48:15 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/09 01:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:48:23 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:48:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:48:23 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
-05/09 01:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:48:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:48:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:48:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.52s (batch: 4.34s, save: 10.18s)	[pipeline.py: 300]
-05/09 01:48:26 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.36s:
-  episode_total: mean=177.11s, total=177.11s, count=1, min=177112.9ms, max=177112.9ms
-  sensor_polling: mean=443.2ms, total=131.63s, count=297, min=383.9ms, max=955.3ms
-  save_trajectories: mean=10.18s, total=10.18s, count=1, min=10178.3ms, max=10178.3ms
-  physics_step: mean=21.7ms, total=6.44s, count=297, min=13.5ms, max=59.8ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.0ms, max=4342.0ms
-  task_sampling: mean=359.1ms, total=359.1ms, count=1, min=359.1ms, max=359.1ms
-  task_specific_sample: mean=355.6ms, total=355.6ms, count=1, min=355.6ms, max=355.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=459.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:48:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:48:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:48:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.25s (batch: 4.23s, save: 8.02s)	[pipeline.py: 300]
-05/09 01:48:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:48:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:48:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:48:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:48:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:48:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:48:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:48:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:48:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041410m	[env.py: 870]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:48:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07240835  0.71986714 -0.04141037] yaw=-167.1deg	[env.py: 1019]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1053538   0.67579847 -0.04141037] yaw=-166.1deg	[env.py: 1019]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05344016  0.43527163 -0.04141037] yaw=-179.6deg	[env.py: 1019]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:48:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.3ms, total=76.3ms	[env.py: 1075]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.720, -0.041)	[env.py: 1079]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.1 deg	[env.py: 1082]
-05/09 01:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.789m	[env.py: 1086]
-05/09 01:48:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:48:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:48:28 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 01:48:28 INFO: [Worker 0] Worker 0 house 1 episode 37/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:48:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:48:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:48:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:48:28 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.38s:
-  episode_total: mean=172.03s, total=172.03s, count=1, min=172026.0ms, max=172026.0ms
-  sensor_polling: mean=449.3ms, total=128.51s, count=286, min=387.2ms, max=1163.1ms
-  save_trajectories: mean=8.02s, total=8.02s, count=1, min=8018.9ms, max=8018.9ms
-  physics_step: mean=23.7ms, total=6.77s, count=286, min=13.4ms, max=86.1ms
-  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4228.5ms, max=4228.5ms
-  task_sampling: mean=379.4ms, total=379.4ms, count=1, min=379.4ms, max=379.4ms
-  task_specific_sample: mean=375.5ms, total=375.5ms, count=1, min=375.5ms, max=375.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:48:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:48:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.422s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:48:28 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.414[m] 83.499[deg]	[grasp_sample.py: 539]
-05/09 01:48:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:48:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:48:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:48:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:48:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:48:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:48:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:48:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:48:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:48:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:48:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:48:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048447m	[env.py: 870]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:48:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07432895  0.86480775 -0.04844734] yaw=-146.6deg	[env.py: 1019]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.06090086  0.87870728 -0.04844734] yaw=-151.6deg	[env.py: 1019]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:48:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.6ms, total=188.7ms	[env.py: 1075]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.865, -0.048)	[env.py: 1079]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg	[env.py: 1082]
-05/09 01:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
-05/09 01:48:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:48:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:48:30 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 01:48:30 INFO: [Worker 0] Worker 0 house 1 episode 37/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:48:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:48:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:48:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:48:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:48:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:48:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:48:30 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.567[m] 92.539[deg]	[grasp_sample.py: 539]
-05/09 01:48:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:48:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:48:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:48:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:48:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:48:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:48:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:48:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.084s, found 326 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:48:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:48:33 INFO: [Worker 0] Feasible grasp found 323 (originally 129): w/ 0.053[m] 1.062[deg]	[grasp_sample.py: 539]
-05/09 01:48:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:48:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:48:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:48:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:48:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:48:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.00s (batch: 3.58s, save: 7.43s)	[pipeline.py: 300]
-05/09 01:48:34 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.73s:
-  episode_total: mean=166.12s, total=166.12s, count=1, min=166116.1ms, max=166116.1ms
-  sensor_polling: mean=451.9ms, total=120.65s, count=267, min=384.5ms, max=700.1ms
-  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7427.2ms, max=7427.2ms
-  physics_step: mean=22.2ms, total=5.92s, count=267, min=16.9ms, max=108.1ms
-  save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3577.3ms, max=3577.3ms
-  task_sampling: mean=726.0ms, total=726.0ms, count=1, min=726.0ms, max=726.0ms
-  task_specific_sample: mean=722.3ms, total=722.3ms, count=1, min=722.3ms, max=722.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=511.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:48:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:48:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:48:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:48:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:48:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:48:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:48:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028245m	[env.py: 870]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:48:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03090331  0.56152158  0.02824476] yaw=-179.8deg	[env.py: 1019]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14063522  1.07330195  0.02824476] yaw=-135.4deg	[env.py: 1019]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03363122  0.40235459  0.02824476] yaw=186.2deg	[env.py: 1019]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:48:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.6ms, total=157.7ms	[env.py: 1075]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.562, 0.028)	[env.py: 1079]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.8 deg	[env.py: 1082]
-05/09 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
-05/09 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:48:36 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 01:48:36 INFO: [Worker 0] Worker 0 house 1 episode 39/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:48:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:48:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:48:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:48:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:48:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:48:37 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.367[m] 77.836[deg]	[grasp_sample.py: 539]
-05/09 01:48:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:48:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:48:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:48:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:48:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:48:55 INFO: [Worker 0] Worker 0 house 1 episode 36 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:49:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:49:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:49:15 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:49:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:49:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:49:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:49:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:49:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:49:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:49:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:49:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:49:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:49:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.73s (batch: 4.10s, save: 10.63s)	[pipeline.py: 300]
-05/09 01:49:30 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.40s:
-  episode_total: mean=193.31s, total=193.31s, count=1, min=193312.6ms, max=193312.6ms
-  sensor_polling: mean=457.5ms, total=137.26s, count=300, min=378.6ms, max=866.9ms
-  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10633.9ms, max=10633.9ms
-  physics_step: mean=23.6ms, total=7.08s, count=300, min=13.6ms, max=65.8ms
-  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4097.1ms, max=4097.1ms
-  task_sampling: mean=402.2ms, total=402.2ms, count=1, min=402.2ms, max=402.2ms
-  task_specific_sample: mean=398.1ms, total=398.1ms, count=1, min=398.1ms, max=398.1ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=466.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:49:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:49:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:49:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:49:31 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:49:31 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:49:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:49:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017767m	[env.py: 870]
-05/09 01:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:49:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81276711  0.44047727  0.01776673] yaw=-189.7deg	[env.py: 1019]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08450304  0.1822309   0.01776673] yaw=160.5deg	[env.py: 1019]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83809275  0.66959396  0.01776673] yaw=-159.1deg	[env.py: 1019]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:49:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.5ms, total=168.5ms	[env.py: 1075]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.440, 0.018)	[env.py: 1079]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.7 deg	[env.py: 1082]
-05/09 01:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
-05/09 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:49:32 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 01:49:32 INFO: [Worker 0] Worker 0 house 1 episode 37/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:49:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:49:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:49:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:49:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:49:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.513s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:49:34 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.559[m] 82.555[deg]	[grasp_sample.py: 539]
-05/09 01:49:34 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:49:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:49:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:49:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:49:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:50:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:50:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:50:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:50:41 INFO: [Worker 0] Worker 0 house 1 episode 37 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:50:46 INFO: [Worker 0] Worker 0 house 1 episode 39 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:50:54 INFO: [Worker 0] Worker 0 house 1 episode 37 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:51:01 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:51:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:51:01 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
-05/09 01:51:05 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:51:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:51:05 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
-05/09 01:51:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:51:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:51:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.22s (batch: 3.76s, save: 8.46s)	[pipeline.py: 300]
-05/09 01:51:13 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.33s:
-  episode_total: mean=166.21s, total=166.21s, count=1, min=166214.7ms, max=166214.7ms
-  sensor_polling: mean=444.7ms, total=124.08s, count=279, min=391.8ms, max=786.0ms
-  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8458.5ms, max=8458.5ms
-  physics_step: mean=21.8ms, total=6.09s, count=279, min=13.6ms, max=45.3ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3764.6ms, max=3764.6ms
-  task_sampling: mean=325.6ms, total=325.6ms, count=1, min=325.6ms, max=325.6ms
-  task_specific_sample: mean=322.5ms, total=322.5ms, count=1, min=322.5ms, max=322.5ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=361.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:51:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:51:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:51:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:51:15 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:51:15 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:51:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:51:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013842m	[env.py: 870]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:51:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00792547  0.1071764   0.01384181] yaw=158.0deg	[env.py: 1019]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99429338  0.29843362  0.01384181] yaw=173.0deg	[env.py: 1019]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04527319  0.87357569  0.01384181] yaw=-159.0deg	[env.py: 1019]
-05/09 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:51:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.3ms	[env.py: 1075]
-05/09 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.008, 0.107, 0.014)	[env.py: 1079]
-05/09 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg	[env.py: 1082]
-05/09 01:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
-05/09 01:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:51:16 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 01:51:16 INFO: [Worker 0] Worker 0 house 1 episode 38/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:51:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:51:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:51:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:51:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.142s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:51:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.923s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:51:17 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.512[m] 89.228[deg]	[grasp_sample.py: 539]
-05/09 01:51:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:51:17 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:51:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:51:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:51:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:51:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:51:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:51:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:51:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.68s (batch: 3.64s, save: 9.04s)	[pipeline.py: 300]
-05/09 01:51:18 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.45s:
-  episode_total: mean=162.28s, total=162.28s, count=1, min=162283.8ms, max=162283.8ms
-  sensor_polling: mean=451.7ms, total=120.61s, count=267, min=404.4ms, max=816.9ms
-  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9039.4ms, max=9039.4ms
-  physics_step: mean=22.7ms, total=6.05s, count=267, min=13.7ms, max=56.8ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3640.7ms, max=3640.7ms
-  task_sampling: mean=450.8ms, total=450.8ms, count=1, min=450.8ms, max=450.8ms
-  task_specific_sample: mean=447.3ms, total=447.3ms, count=1, min=447.3ms, max=447.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=352.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:51:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:51:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:51:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:51:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:51:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:51:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:51:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:51:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:51:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038506m	[env.py: 870]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:51:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08565812  0.59131754 -0.03850586] yaw=-172.6deg	[env.py: 1019]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:51:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.1ms, total=223.1ms	[env.py: 1075]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.086, 0.591, -0.039)	[env.py: 1079]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.6 deg	[env.py: 1082]
-05/09 01:51:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
-05/09 01:51:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:51:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:51:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:51:20 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 01:51:20 INFO: [Worker 0] Worker 0 house 1 episode 40/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:51:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:51:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:51:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:51:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.099s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:51:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.403s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:51:21 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.465[m] 97.956[deg]	[grasp_sample.py: 539]
-05/09 01:51:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:51:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:51:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:51:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:51:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:51:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.89s (batch: 4.40s, save: 8.49s)	[pipeline.py: 300]
-05/09 01:51:31 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.49s:
-  episode_total: mean=181.62s, total=181.62s, count=1, min=181623.9ms, max=181623.9ms
-  sensor_polling: mean=449.0ms, total=134.70s, count=300, min=385.8ms, max=903.6ms
-  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8493.0ms, max=8493.0ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=13.1ms, max=47.6ms
-  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.8ms, max=4401.8ms
-  task_sampling: mean=485.2ms, total=485.2ms, count=1, min=485.2ms, max=485.2ms
-  task_specific_sample: mean=481.4ms, total=481.4ms, count=1, min=481.4ms, max=481.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=426.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:51:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:51:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:51:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:51:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:51:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:51:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:51:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018397m	[env.py: 870]
-05/09 01:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:51:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17393447  1.06310888 -0.01839735] yaw=-129.1deg	[env.py: 1019]
-05/09 01:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12458948  0.21597429 -0.01839735] yaw=157.5deg	[env.py: 1019]
-05/09 01:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07651331  0.2310152  -0.01839735] yaw=157.9deg	[env.py: 1019]
-05/09 01:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:51:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.3ms, total=129.3ms	[env.py: 1075]
-05/09 01:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.174, 1.063, -0.018)	[env.py: 1079]
-05/09 01:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.1 deg	[env.py: 1082]
-05/09 01:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
-05/09 01:51:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:51:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:51:33 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 01:51:33 INFO: [Worker 0] Worker 0 house 1 episode 38/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:51:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:51:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:51:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:51:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:51:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:51:33 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.482[m] 84.185[deg]	[grasp_sample.py: 539]
-05/09 01:51:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:51:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:51:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:51:57 INFO: [Worker 0] Worker 0 house 1 episode 37 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:52:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:52:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:52:16 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:52:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:52:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:52:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:52:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:52:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:52:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:52:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:52:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:52:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.54s (batch: 4.61s, save: 9.93s)	[pipeline.py: 300]
-05/09 01:52:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:52:31 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.43s:
-  episode_total: mean=179.30s, total=179.30s, count=1, min=179303.0ms, max=179303.0ms
-  sensor_polling: mean=442.3ms, total=132.70s, count=300, min=370.9ms, max=847.4ms
-  save_trajectories: mean=9.93s, total=9.93s, count=1, min=9933.6ms, max=9933.6ms
-  physics_step: mean=23.6ms, total=7.09s, count=300, min=13.4ms, max=85.0ms
-  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4605.1ms, max=4605.1ms
-  task_sampling: mean=433.1ms, total=433.1ms, count=1, min=433.1ms, max=433.1ms
-  task_specific_sample: mean=429.6ms, total=429.6ms, count=1, min=429.6ms, max=429.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=364.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:52:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:52:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:52:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:52:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:52:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:52:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:52:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047926m	[env.py: 870]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:52:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08518999  0.78255399 -0.04792585] yaw=-152.4deg	[env.py: 1019]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.31594046  0.9527825  -0.04792585] yaw=-136.5deg	[env.py: 1019]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11725891  0.81038376 -0.04792585] yaw=-144.4deg	[env.py: 1019]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:52:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.8ms, total=74.9ms	[env.py: 1075]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 0.783, -0.048)	[env.py: 1079]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg	[env.py: 1082]
-05/09 01:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/09 01:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:52:33 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 01:52:33 INFO: [Worker 0] Worker 0 house 1 episode 38/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:52:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:52:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:52:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:52:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:52:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.458s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:52:33 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.477[m] 87.161[deg]	[grasp_sample.py: 539]
-05/09 01:52:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:52:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:52:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:52:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:53:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:53:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:53:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:53:41 INFO: [Worker 0] Worker 0 house 1 episode 40 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:53:42 INFO: [Worker 0] Worker 0 house 1 episode 38 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:53:53 INFO: [Worker 0] Worker 0 house 1 episode 38 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:54:02 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:54:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:54:02 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/09 01:54:03 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:54:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:54:03 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/09 01:54:12 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:54:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:54:12 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/09 01:54:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:54:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:54:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.40s (batch: 3.75s, save: 8.65s)	[pipeline.py: 300]
-05/09 01:54:15 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.49s:
-  episode_total: mean=175.24s, total=175.24s, count=1, min=175241.8ms, max=175241.8ms
-  sensor_polling: mean=445.0ms, total=130.38s, count=293, min=396.7ms, max=865.4ms
-  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8650.4ms, max=8650.4ms
-  physics_step: mean=23.8ms, total=6.96s, count=293, min=13.7ms, max=60.6ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3752.8ms, max=3752.8ms
-  task_sampling: mean=491.0ms, total=491.0ms, count=1, min=491.0ms, max=491.0ms
-  task_specific_sample: mean=487.4ms, total=487.4ms, count=1, min=487.4ms, max=487.4ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=446.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:54:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:54:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:54:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.15s (batch: 3.72s, save: 8.44s)	[pipeline.py: 300]
-05/09 01:54:16 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.51s:
-  episode_total: mean=180.63s, total=180.63s, count=1, min=180633.3ms, max=180633.3ms
-  sensor_polling: mean=453.2ms, total=135.50s, count=299, min=400.0ms, max=815.4ms
-  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8435.7ms, max=8435.7ms
-  physics_step: mean=21.3ms, total=6.36s, count=299, min=16.7ms, max=57.3ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3718.3ms, max=3718.3ms
-  task_sampling: mean=507.9ms, total=507.9ms, count=1, min=507.9ms, max=507.9ms
-  task_specific_sample: mean=504.3ms, total=504.3ms, count=1, min=504.3ms, max=504.3ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=441.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:54:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:54:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:54:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:54:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:54:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:54:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:54:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032344m	[env.py: 870]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:54:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84229982  0.65837829  0.03234351] yaw=-160.5deg	[env.py: 1019]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82257141  0.45432122  0.03234351] yaw=-186.7deg	[env.py: 1019]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:54:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.4ms, total=248.5ms	[env.py: 1075]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.658, 0.032)	[env.py: 1079]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.5 deg	[env.py: 1082]
-05/09 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
-05/09 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:54:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 01:54:17 INFO: [Worker 0] Worker 0 house 1 episode 41/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:54:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:54:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:54:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:54:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:54:18 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:54:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:54:18 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:54:18 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:54:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:54:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004565m	[env.py: 870]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:54:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:54:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.074s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23572944  0.85537687 -0.00456488] yaw=-137.8deg	[env.py: 1019]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98927129  0.85057741 -0.00456488] yaw=-149.1deg	[env.py: 1019]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12358881  0.23128526 -0.00456488] yaw=155.5deg	[env.py: 1019]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:54:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=364.3ms, total=364.3ms	[env.py: 1075]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.236, 0.855, -0.005)	[env.py: 1079]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg	[env.py: 1082]
-05/09 01:54:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.713m	[env.py: 1086]
-05/09 01:54:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:54:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:54:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:54:18 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 01:54:18 INFO: [Worker 0] Worker 0 house 1 episode 39/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:54:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:54:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:54:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:54:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:54:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.924s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:54:19 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.400[m] 89.758[deg]	[grasp_sample.py: 539]
-05/09 01:54:19 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:54:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:54:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:54:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.142s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:54:21 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.610[m] 93.642[deg]	[grasp_sample.py: 539]
-05/09 01:54:21 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:54:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:54:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:54:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:54:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:54:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.78s (batch: 4.12s, save: 10.66s)	[pipeline.py: 300]
-05/09 01:54:27 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.38s:
-  episode_total: mean=174.74s, total=174.74s, count=1, min=174736.6ms, max=174736.6ms
-  sensor_polling: mean=443.9ms, total=130.49s, count=294, min=390.7ms, max=904.7ms
-  save_trajectories: mean=10.66s, total=10.66s, count=1, min=10662.0ms, max=10662.0ms
-  physics_step: mean=21.4ms, total=6.30s, count=294, min=13.4ms, max=48.5ms
-  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.0ms, max=4120.0ms
-  task_sampling: mean=381.9ms, total=381.9ms, count=1, min=381.9ms, max=381.9ms
-  task_specific_sample: mean=378.2ms, total=378.2ms, count=1, min=378.2ms, max=378.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=375.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:54:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:54:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:54:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:54:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:54:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:54:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:54:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:54:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:54:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030502m	[env.py: 870]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:54:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.809656    0.45548822  0.03050231] yaw=-185.5deg	[env.py: 1019]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10622281  0.06498461  0.03050231] yaw=156.7deg	[env.py: 1019]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00639695  0.89926515  0.03050231] yaw=-141.0deg	[env.py: 1019]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:54:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.4ms, total=169.4ms	[env.py: 1075]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.455, 0.031)	[env.py: 1079]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.5 deg	[env.py: 1082]
-05/09 01:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
-05/09 01:54:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:54:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:54:29 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 01:54:29 INFO: [Worker 0] Worker 0 house 1 episode 39/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:54:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:54:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:54:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:54:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:54:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.496s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:54:31 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.603[m] 88.977[deg]	[grasp_sample.py: 539]
-05/09 01:54:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:54:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:54:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:54:49 INFO: [Worker 0] Worker 0 house 1 episode 38 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:54:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:55:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:55:12 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:55:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:55:12 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
-05/09 01:55:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:55:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:55:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:55:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:55:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.39s (batch: 3.61s, save: 8.78s)	[pipeline.py: 300]
-05/09 01:55:25 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.34s:
-  episode_total: mean=172.83s, total=172.83s, count=1, min=172825.8ms, max=172825.8ms
-  sensor_polling: mean=433.0ms, total=126.42s, count=292, min=368.2ms, max=829.4ms
-  save_trajectories: mean=8.78s, total=8.78s, count=1, min=8778.1ms, max=8778.1ms
-  physics_step: mean=20.8ms, total=6.07s, count=292, min=16.8ms, max=33.9ms
-  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3611.7ms, max=3611.7ms
-  task_sampling: mean=337.5ms, total=337.5ms, count=1, min=337.5ms, max=337.5ms
-  task_specific_sample: mean=334.0ms, total=334.0ms, count=1, min=334.0ms, max=334.0ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=398.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:55:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:55:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:55:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:55:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:55:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:55:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:55:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:55:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:55:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044236m	[env.py: 870]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:55:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14861175  0.15311171  0.04423578] yaw=165.0deg	[env.py: 1019]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92639604  0.32264844  0.04423578] yaw=179.2deg	[env.py: 1019]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10670861  0.65811459  0.04423578] yaw=-164.6deg	[env.py: 1019]
-05/09 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:55:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=395.4ms, total=395.4ms	[env.py: 1075]
-05/09 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.149, 0.153, 0.044)	[env.py: 1079]
-05/09 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.0 deg	[env.py: 1082]
-05/09 01:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.710m	[env.py: 1086]
-05/09 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:55:28 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 01:55:28 INFO: [Worker 0] Worker 0 house 1 episode 39/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:55:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:55:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:55:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:55:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.147s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:55:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.034s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:55:29 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.350[m] 85.816[deg]	[grasp_sample.py: 539]
-05/09 01:55:29 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:55:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:55:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:55:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:55:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:55:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:55:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:55:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:56:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:56:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:56:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:56:35 INFO: [Worker 0] Worker 0 house 1 episode 39 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:56:47 INFO: [Worker 0] Worker 0 house 1 episode 41 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:56:53 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:56:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 01:56:53 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/09 01:56:57 INFO: [Worker 0] Worker 0 house 1 episode 39 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:57:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:57:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:57:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.23s (batch: 4.15s, save: 8.08s)	[pipeline.py: 300]
-05/09 01:57:06 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.64s:
-  episode_total: mean=167.90s, total=167.90s, count=1, min=167897.9ms, max=167897.9ms
-  sensor_polling: mean=455.8ms, total=126.73s, count=278, min=398.1ms, max=895.7ms
-  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8081.1ms, max=8081.1ms
-  physics_step: mean=22.0ms, total=6.12s, count=278, min=16.3ms, max=45.1ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4150.2ms, max=4150.2ms
-  task_sampling: mean=638.7ms, total=638.7ms, count=1, min=638.7ms, max=638.7ms
-  task_specific_sample: mean=629.6ms, total=629.6ms, count=1, min=629.6ms, max=629.6ms
-  scene_randomize: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms
-  mj_forward_sync: mean=433.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:57:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:57:07 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:57:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:57:07 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:57:07 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:57:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:57:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018201m	[env.py: 870]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:57:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02018948  0.93086915  0.0182015 ] yaw=-155.3deg	[env.py: 1019]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.11173919  0.05831247  0.0182015 ] yaw=149.8deg	[env.py: 1019]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:57:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=168.2ms, total=168.2ms	[env.py: 1075]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.931, 0.018)	[env.py: 1079]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg	[env.py: 1082]
-05/09 01:57:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
-05/09 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:57:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:57:07 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 01:57:07 INFO: [Worker 0] Worker 0 house 1 episode 40/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:57:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:57:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:57:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:57:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:57:08 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:57:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 01:57:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:57:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.147s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:57:10 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.520[m] 88.207[deg]	[grasp_sample.py: 539]
-05/09 01:57:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:57:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:57:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:57:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:57:18 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:57:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 01:57:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:57:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:57:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:57:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:57:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.59s (batch: 3.95s, save: 8.63s)	[pipeline.py: 300]
-05/09 01:57:21 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.54s:
-  episode_total: mean=184.30s, total=184.30s, count=1, min=184302.7ms, max=184302.7ms
-  sensor_polling: mean=452.6ms, total=135.78s, count=300, min=394.1ms, max=773.6ms
-  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8631.6ms, max=8631.6ms
-  physics_step: mean=22.8ms, total=6.83s, count=300, min=16.8ms, max=85.6ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3953.5ms, max=3953.5ms
-  task_sampling: mean=539.1ms, total=539.1ms, count=1, min=539.1ms, max=539.1ms
-  task_specific_sample: mean=535.1ms, total=535.1ms, count=1, min=535.1ms, max=535.1ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=447.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:57:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:57:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:57:23 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:57:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:57:23 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:57:23 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:57:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:57:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045297m	[env.py: 870]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:57:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81464746  0.48014185 -0.0452966 ] yaw=-182.9deg	[env.py: 1019]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16521454  1.00940483 -0.0452966 ] yaw=-132.0deg	[env.py: 1019]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9962093   0.73079533 -0.0452966 ] yaw=-164.3deg	[env.py: 1019]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:57:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.0ms, total=243.0ms	[env.py: 1075]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.480, -0.045)	[env.py: 1079]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg	[env.py: 1082]
-05/09 01:57:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/09 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:57:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:57:24 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 01:57:24 INFO: [Worker 0] Worker 0 house 1 episode 42/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:57:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:57:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:57:24 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:57:24 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:57:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.047s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:57:25 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.642[m] 88.592[deg]	[grasp_sample.py: 539]
-05/09 01:57:25 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:57:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:57:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:57:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:57:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:57:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:57:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 01:57:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:57:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:57:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:57:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.096s, found 318 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:57:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:57:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:57:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 4.39s, save: 10.29s)	[pipeline.py: 300]
-05/09 01:57:33 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.44s:
-  episode_total: mean=184.01s, total=184.01s, count=1, min=184008.2ms, max=184008.2ms
-  sensor_polling: mean=452.7ms, total=135.81s, count=300, min=386.2ms, max=782.6ms
-  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10291.0ms, max=10291.0ms
-  physics_step: mean=21.4ms, total=6.43s, count=300, min=16.6ms, max=48.7ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.3ms, max=4390.3ms
-  task_sampling: mean=441.3ms, total=441.3ms, count=1, min=441.3ms, max=441.3ms
-  task_specific_sample: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=362.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:57:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.643s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:57:33 INFO: [Worker 0] Feasible grasp found 346 (originally 152): w/ 0.099[m] 0.171[deg]	[grasp_sample.py: 539]
-05/09 01:57:33 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:57:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:57:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:57:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:57:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:57:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:57:34 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:57:34 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:57:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:57:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018147m	[env.py: 870]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:57:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06586552  0.54393578  0.01814653] yaw=-171.3deg	[env.py: 1019]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00663672  0.85517358  0.01814653] yaw=-151.2deg	[env.py: 1019]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.06322502  0.89954821  0.01814653] yaw=-153.3deg	[env.py: 1019]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:57:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.4ms, total=158.4ms	[env.py: 1075]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.544, 0.018)	[env.py: 1079]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg	[env.py: 1082]
-05/09 01:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
-05/09 01:57:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:57:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:57:35 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 01:57:35 INFO: [Worker 0] Worker 0 house 1 episode 40/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:57:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:57:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:57:35 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:57:35 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:57:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:57:35 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.379[m] 86.757[deg]	[grasp_sample.py: 539]
-05/09 01:57:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:57:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:57:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:57:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:57:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:57:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:58:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:58:10 INFO: [Worker 0] Worker 0 house 1 episode 39 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:58:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:58:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:58:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:58:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:58:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:58:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:58:33 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 01:58:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 01:58:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 01:58:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:58:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:58:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 01:58:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 01:58:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.17s (batch: 4.34s, save: 8.84s)	[pipeline.py: 300]
-05/09 01:58:46 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.69s:
-  episode_total: mean=199.36s, total=199.36s, count=1, min=199361.0ms, max=199361.0ms
-  sensor_polling: mean=455.1ms, total=136.52s, count=300, min=379.8ms, max=702.9ms
-  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8835.0ms, max=8835.0ms
-  physics_step: mean=22.0ms, total=6.59s, count=300, min=14.0ms, max=80.8ms
-  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4338.0ms, max=4338.0ms
-  task_sampling: mean=686.8ms, total=686.8ms, count=1, min=686.8ms, max=686.8ms
-  task_specific_sample: mean=682.7ms, total=682.7ms, count=1, min=682.7ms, max=682.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=510.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 01:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:58:48 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:58:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:58:48 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020592m	[env.py: 870]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06598111  0.07979122  0.02059182] yaw=156.7deg	[env.py: 1019]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.16797928  0.91438533  0.02059182] yaw=-148.6deg	[env.py: 1019]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88462979  0.38299066  0.02059182] yaw=177.1deg	[env.py: 1019]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.0ms	[env.py: 1075]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.080, 0.021)	[env.py: 1079]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.7 deg	[env.py: 1082]
-05/09 01:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
-05/09 01:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:58:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 01:58:48 INFO: [Worker 0] Worker 0 house 1 episode 40/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:58:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:58:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:58:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:58:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.458s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:58:49 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.441[m] 85.284[deg]	[grasp_sample.py: 539]
-05/09 01:58:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:58:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:58:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:59:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 01:59:35 INFO: [Worker 0] Object is not in grasp! 0.00181 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/09 01:59:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 01:59:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:59:35 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:59:35 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:59:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.486s, found feasible grasp: False	[grasp_sample.py: 500]
-05/09 01:59:37 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found	[pipeline.py: 1242]
-05/09 01:59:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 01:59:38 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 01:59:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 01:59:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:59:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:59:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:59:38 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 01:59:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 01:59:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 01:59:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002262m	[env.py: 870]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 01:59:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.16973667  0.0976221  -0.00226159] yaw=148.5deg	[env.py: 1019]
-05/09 01:59:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 01:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92143414  0.64739467 -0.00226159] yaw=-158.7deg	[env.py: 1019]
-05/09 01:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 01:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 01:59:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.2ms, total=222.2ms	[env.py: 1075]
-05/09 01:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.170, 0.098, -0.002)	[env.py: 1079]
-05/09 01:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.5 deg	[env.py: 1082]
-05/09 01:59:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.714m	[env.py: 1086]
-05/09 01:59:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 01:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 01:59:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 01:59:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 01:59:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 01:59:39 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 01:59:39 INFO: [Worker 0] Worker 0 house 1 episode 41/60 collected=0/10	[pipeline.py: 1044]
-05/09 01:59:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
-05/09 01:59:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 01:59:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 01:59:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 01:59:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.403s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 01:59:39 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.417[m] 91.912[deg]	[grasp_sample.py: 539]
-05/09 01:59:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 01:59:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 01:59:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:59:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 01:59:48 INFO: [Worker 0] Worker 0 house 1 episode 42 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 01:59:51 INFO: [Worker 0] Worker 0 house 1 episode 40 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:00:09 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:00:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:00:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:00:11 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:00:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:00:11 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
-05/09 02:00:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:00:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:00:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:00:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.02s (batch: 3.91s, save: 10.11s)	[pipeline.py: 300]
-05/09 02:00:24 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.50s:
-  episode_total: mean=180.80s, total=180.80s, count=1, min=180802.1ms, max=180802.1ms
-  sensor_polling: mean=446.3ms, total=133.89s, count=300, min=388.5ms, max=776.3ms
-  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10115.0ms, max=10115.0ms
-  physics_step: mean=21.3ms, total=6.40s, count=300, min=15.7ms, max=53.1ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3907.6ms, max=3907.6ms
-  task_sampling: mean=504.6ms, total=504.6ms, count=1, min=504.6ms, max=504.6ms
-  task_specific_sample: mean=500.3ms, total=500.3ms, count=1, min=500.3ms, max=500.3ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=513.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:00:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:00:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:00:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.52s (batch: 3.73s, save: 9.79s)	[pipeline.py: 300]
-05/09 02:00:25 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.40s:
-  episode_total: mean=171.15s, total=171.15s, count=1, min=171152.6ms, max=171152.6ms
-  sensor_polling: mean=460.0ms, total=125.57s, count=273, min=402.7ms, max=820.1ms
-  save_trajectories: mean=9.79s, total=9.79s, count=1, min=9787.5ms, max=9787.5ms
-  physics_step: mean=22.7ms, total=6.20s, count=273, min=13.3ms, max=65.4ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.0ms, max=3729.0ms
-  task_sampling: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms
-  task_specific_sample: mean=400.9ms, total=400.9ms, count=1, min=400.9ms, max=400.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=373.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:00:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:00:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:00:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:00:26 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:00:26 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:00:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:00:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023913m	[env.py: 870]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:00:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09784493  0.80693604 -0.02391277] yaw=-163.0deg	[env.py: 1019]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16695643  0.09053207 -0.02391277] yaw=148.2deg	[env.py: 1019]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0333372   0.21174153 -0.02391277] yaw=162.1deg	[env.py: 1019]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:00:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.2ms, total=245.2ms	[env.py: 1075]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.098, 0.807, -0.024)	[env.py: 1079]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.0 deg	[env.py: 1082]
-05/09 02:00:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
-05/09 02:00:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:00:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:00:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:00:26 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 02:00:26 INFO: [Worker 0] Worker 0 house 1 episode 43/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:00:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:00:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:00:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:00:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:00:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:00:27 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.509[m] 93.498[deg]	[grasp_sample.py: 539]
-05/09 02:00:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:00:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:00:28 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:00:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:00:28 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:00:28 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:00:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:00:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023409m	[env.py: 870]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:00:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17957677  1.10830135 -0.02340939] yaw=-133.8deg	[env.py: 1019]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98008391  0.53113595 -0.02340939] yaw=-169.0deg	[env.py: 1019]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04008745  0.31954781 -0.02340939] yaw=163.2deg	[env.py: 1019]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:00:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.1ms, total=304.1ms	[env.py: 1075]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.180, 1.108, -0.023)	[env.py: 1079]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg	[env.py: 1082]
-05/09 02:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
-05/09 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:00:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:00:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:00:28 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:00:28 INFO: [Worker 0] Worker 0 house 1 episode 41/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:00:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:00:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:00:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:00:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.106s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:00:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:00:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.970s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:00:31 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.543[m] 81.442[deg]	[grasp_sample.py: 539]
-05/09 02:00:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:00:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:00:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:00:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:01:06 INFO: [Worker 0] Worker 0 house 1 episode 40 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:01:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:01:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:01:25 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:01:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:01:25 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/09 02:01:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:01:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:01:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:01:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:01:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:01:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:01:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.16s (batch: 4.33s, save: 9.83s)	[pipeline.py: 300]
-05/09 02:01:40 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.37s:
-  episode_total: mean=171.84s, total=171.84s, count=1, min=171840.3ms, max=171840.3ms
-  sensor_polling: mean=452.7ms, total=128.12s, count=283, min=391.5ms, max=751.8ms
-  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9832.6ms, max=9832.6ms
-  physics_step: mean=21.1ms, total=5.98s, count=283, min=13.7ms, max=50.9ms
-  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4329.7ms, max=4329.7ms
-  task_sampling: mean=367.1ms, total=367.1ms, count=1, min=367.1ms, max=367.1ms
-  task_specific_sample: mean=363.0ms, total=363.0ms, count=1, min=363.0ms, max=363.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=467.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:01:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:01:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:01:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:01:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:01:42 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:01:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:01:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047905m	[env.py: 870]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:01:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00095234  0.86999467  0.0479051 ] yaw=-150.4deg	[env.py: 1019]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81737344  0.46546077  0.0479051 ] yaw=-167.4deg	[env.py: 1019]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98552307  0.1575061   0.0479051 ] yaw=160.7deg	[env.py: 1019]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:01:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.1ms, total=111.2ms	[env.py: 1075]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.870, 0.048)	[env.py: 1079]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.4 deg	[env.py: 1082]
-05/09 02:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
-05/09 02:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:01:42 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 02:01:42 INFO: [Worker 0] Worker 0 house 1 episode 41/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:01:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:01:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:01:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:01:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:01:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.603s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:01:43 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.557[m] 93.867[deg]	[grasp_sample.py: 539]
-05/09 02:01:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:01:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:01:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:02:07 INFO: [Worker 0] Worker 0 house 1 episode 41 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:02:26 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:02:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:02:26 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/09 02:02:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:02:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:02:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:02:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.07s (batch: 3.70s, save: 7.37s)	[pipeline.py: 300]
-05/09 02:02:37 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.91s:
-  episode_total: mean=164.32s, total=328.64s, count=2, min=149575.7ms, max=179061.3ms
-  sensor_polling: mean=454.7ms, total=259.64s, count=571, min=373.8ms, max=764.6ms
-  physics_step: mean=21.8ms, total=12.43s, count=571, min=13.7ms, max=48.7ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7371.0ms, max=7371.0ms
-  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3697.1ms, max=3697.1ms
-  task_sampling: mean=456.6ms, total=913.3ms, count=2, min=430.6ms, max=482.7ms
-  task_specific_sample: mean=453.3ms, total=906.6ms, count=2, min=426.7ms, max=479.9ms
-  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.6ms
-  mj_forward_sync: mean=402.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:02:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:02:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:02:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:02:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:02:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:02:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:02:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035718m	[env.py: 870]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:02:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05142234  0.47395992  0.03571792] yaw=-181.2deg	[env.py: 1019]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96651419  0.22910807  0.03571792] yaw=168.9deg	[env.py: 1019]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04430203  0.77821749  0.03571792] yaw=-158.6deg	[env.py: 1019]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:02:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.8ms, total=76.8ms	[env.py: 1075]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.474, 0.036)	[env.py: 1079]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.2 deg	[env.py: 1082]
-05/09 02:02:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
-05/09 02:02:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:02:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:02:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:02:39 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:02:39 INFO: [Worker 0] Worker 0 house 1 episode 42/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:02:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:02:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:02:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:02:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:02:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.401s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:02:40 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.371[m] 89.493[deg]	[grasp_sample.py: 539]
-05/09 02:02:40 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:02:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:02:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:02:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:02:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:02:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:02:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:02:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:02:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:02:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:02:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:02:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:02:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:02:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:02:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:02:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:02:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 322 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:02:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.490s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:02:51 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.046[m] 0.455[deg]	[grasp_sample.py: 539]
-05/09 02:02:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:02:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:02:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:02:52 INFO: [Worker 0] Worker 0 house 1 episode 43 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:02:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:03:05 INFO: [Worker 0] Worker 0 house 1 episode 41 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:03:13 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:03:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:03:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:03:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:03:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:03:24 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:03:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:03:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:03:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:03:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:03:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.47s (batch: 4.02s, save: 9.45s)	[pipeline.py: 300]
-05/09 02:03:28 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.54s:
-  episode_total: mean=181.82s, total=181.82s, count=1, min=181822.8ms, max=181822.8ms
-  sensor_polling: mean=447.5ms, total=134.26s, count=300, min=395.1ms, max=767.0ms
-  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9445.2ms, max=9445.2ms
-  physics_step: mean=22.5ms, total=6.76s, count=300, min=15.5ms, max=49.5ms
-  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4020.4ms, max=4020.4ms
-  task_sampling: mean=536.5ms, total=536.5ms, count=1, min=536.5ms, max=536.5ms
-  task_specific_sample: mean=532.1ms, total=532.1ms, count=1, min=532.1ms, max=532.1ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=564.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:03:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:03:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:03:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:03:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:03:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:03:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:03:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:03:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:03:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:03:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:03:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003125m	[env.py: 870]
-05/09 02:03:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:03:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02177361  0.97541635  0.00312504] yaw=-139.3deg	[env.py: 1019]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05706451  1.05392584  0.00312504] yaw=-133.0deg	[env.py: 1019]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08600718  0.91400541  0.00312504] yaw=-134.6deg	[env.py: 1019]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:03:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=324.1ms, total=324.2ms	[env.py: 1075]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.975, 0.003)	[env.py: 1079]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.3 deg	[env.py: 1082]
-05/09 02:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
-05/09 02:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:03:30 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 02:03:30 INFO: [Worker 0] Worker 0 house 1 episode 44/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:03:30 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:03:30 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:03:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.552s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:03:32 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.654[m] 95.819[deg]	[grasp_sample.py: 539]
-05/09 02:03:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:03:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:03:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:03:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:03:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:03:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.78s (batch: 4.76s, save: 10.02s)	[pipeline.py: 300]
-05/09 02:03:40 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.58s:
-  episode_total: mean=192.11s, total=192.11s, count=1, min=192105.5ms, max=192105.5ms
-  sensor_polling: mean=451.6ms, total=135.47s, count=300, min=395.4ms, max=712.3ms
-  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10015.3ms, max=10015.3ms
-  physics_step: mean=21.0ms, total=6.29s, count=300, min=13.5ms, max=44.6ms
-  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4760.3ms, max=4760.3ms
-  task_sampling: mean=579.4ms, total=579.4ms, count=1, min=579.4ms, max=579.4ms
-  task_specific_sample: mean=575.4ms, total=575.4ms, count=1, min=575.4ms, max=575.4ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=433.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:03:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:03:41 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:03:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:03:41 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:03:41 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:03:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:03:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004657m	[env.py: 870]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:03:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92464486  0.20348753  0.00465677] yaw=172.9deg	[env.py: 1019]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08388521  0.27474822  0.00465677] yaw=160.7deg	[env.py: 1019]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87238458  0.30096902  0.00465677] yaw=166.0deg	[env.py: 1019]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:03:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.4ms	[env.py: 1075]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.203, 0.005)	[env.py: 1079]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.9 deg	[env.py: 1082]
-05/09 02:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
-05/09 02:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:03:42 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 02:03:42 INFO: [Worker 0] Worker 0 house 1 episode 42/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:03:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:03:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:03:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:03:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:03:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:03:42 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.511[m] 85.097[deg]	[grasp_sample.py: 539]
-05/09 02:03:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:03:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:03:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:04:05 INFO: [Worker 0] Worker 0 house 1 episode 41 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:04:27 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:04:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:04:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:04:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:04:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:04:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:04:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:04:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.46s (batch: 3.74s, save: 9.71s)	[pipeline.py: 300]
-05/09 02:04:41 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.40s:
-  episode_total: mean=179.37s, total=179.37s, count=1, min=179366.7ms, max=179366.7ms
-  sensor_polling: mean=441.2ms, total=132.37s, count=300, min=382.2ms, max=698.9ms
-  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9714.4ms, max=9714.4ms
-  physics_step: mean=21.9ms, total=6.58s, count=300, min=13.4ms, max=61.1ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3744.9ms, max=3744.9ms
-  task_sampling: mean=402.6ms, total=402.6ms, count=1, min=402.6ms, max=402.6ms
-  task_specific_sample: mean=399.1ms, total=399.1ms, count=1, min=399.1ms, max=399.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=370.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:04:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:04:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:04:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:04:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:04:43 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:04:43 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:04:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:04:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012918m	[env.py: 870]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:04:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9884077   0.37885909  0.01291767] yaw=177.1deg	[env.py: 1019]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03403146  0.01928589  0.01291767] yaw=153.5deg	[env.py: 1019]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:04:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=326.8ms, total=326.8ms	[env.py: 1075]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.379, 0.013)	[env.py: 1079]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg	[env.py: 1082]
-05/09 02:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
-05/09 02:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:04:43 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 02:04:43 INFO: [Worker 0] Worker 0 house 1 episode 42/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:04:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:04:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:04:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:04:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:04:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.944s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:04:44 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.467[m] 93.063[deg]	[grasp_sample.py: 539]
-05/09 02:04:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:04:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:04:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:04:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:04:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:04:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:04:57 INFO: [Worker 0] Worker 0 house 1 episode 42 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:05:18 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:05:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:05:18 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
-05/09 02:05:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:05:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:05:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.51s (batch: 3.72s, save: 6.79s)	[pipeline.py: 300]
-05/09 02:05:29 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.36s:
-  episode_total: mean=170.44s, total=170.44s, count=1, min=170440.4ms, max=170440.4ms
-  sensor_polling: mean=459.2ms, total=124.44s, count=271, min=395.2ms, max=783.7ms
-  save_trajectories: mean=6.79s, total=6.79s, count=1, min=6787.2ms, max=6787.2ms
-  physics_step: mean=23.7ms, total=6.41s, count=271, min=13.7ms, max=107.3ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3722.0ms, max=3722.0ms
-  task_sampling: mean=363.1ms, total=363.1ms, count=1, min=363.1ms, max=363.1ms
-  task_specific_sample: mean=359.6ms, total=359.6ms, count=1, min=359.6ms, max=359.6ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=366.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:05:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:05:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:05:31 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:05:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:05:31 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:05:31 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:05:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:05:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026453m	[env.py: 870]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:05:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99395929  0.14072515  0.02645294] yaw=166.9deg	[env.py: 1019]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02590399  0.22490718  0.02645294] yaw=159.1deg	[env.py: 1019]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84073835  0.22661387  0.02645294] yaw=169.0deg	[env.py: 1019]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:05:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.8ms, total=187.8ms	[env.py: 1075]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.141, 0.026)	[env.py: 1079]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg	[env.py: 1082]
-05/09 02:05:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
-05/09 02:05:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:05:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:05:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:05:31 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 02:05:31 INFO: [Worker 0] Worker 0 house 1 episode 43/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:05:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:05:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:05:31 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:05:31 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:05:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:05:32 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.526[m] 97.302[deg]	[grasp_sample.py: 539]
-05/09 02:05:32 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:05:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:05:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:05:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:05:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:05:55 INFO: [Worker 0] Worker 0 house 1 episode 44 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:06:05 INFO: [Worker 0] Worker 0 house 1 episode 42 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:06:15 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:06:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:06:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:06:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:06:26 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:06:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:06:26 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/09 02:06:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:06:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:06:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.92s (batch: 3.68s, save: 8.24s)	[pipeline.py: 300]
-05/09 02:06:27 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.58s:
-  episode_total: mean=178.06s, total=178.06s, count=1, min=178063.8ms, max=178063.8ms
-  sensor_polling: mean=445.4ms, total=133.61s, count=300, min=391.6ms, max=803.2ms
-  save_trajectories: mean=8.24s, total=8.24s, count=1, min=8241.6ms, max=8241.6ms
-  physics_step: mean=21.2ms, total=6.35s, count=300, min=15.1ms, max=67.5ms
-  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3681.3ms, max=3681.3ms
-  task_sampling: mean=582.2ms, total=582.2ms, count=1, min=582.2ms, max=582.2ms
-  task_specific_sample: mean=578.4ms, total=578.4ms, count=1, min=578.4ms, max=578.4ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=444.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:06:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:06:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:06:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:06:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:06:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:06:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:06:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001788m	[env.py: 870]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:06:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13637053  1.12770007 -0.00178768] yaw=-132.8deg	[env.py: 1019]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11793967  0.66928369 -0.00178768] yaw=-169.1deg	[env.py: 1019]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8177839   0.28061448 -0.00178768] yaw=177.8deg	[env.py: 1019]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.1ms, total=88.2ms	[env.py: 1075]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.136, 1.128, -0.002)	[env.py: 1079]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
-05/09 02:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
-05/09 02:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:06:29 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 02:06:29 INFO: [Worker 0] Worker 0 house 1 episode 45/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:06:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:06:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:06:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:06:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:06:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.416s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:06:31 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.580[m] 82.604[deg]	[grasp_sample.py: 539]
-05/09 02:06:31 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:06:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:06:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:06:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:06:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:06:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:06:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.60s (batch: 3.79s, save: 9.82s)	[pipeline.py: 300]
-05/09 02:06:41 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.43s:
-  episode_total: mean=179.38s, total=179.38s, count=1, min=179377.2ms, max=179377.2ms
-  sensor_polling: mean=448.1ms, total=133.53s, count=298, min=390.0ms, max=767.8ms
-  save_trajectories: mean=9.82s, total=9.82s, count=1, min=9817.5ms, max=9817.5ms
-  physics_step: mean=21.2ms, total=6.32s, count=298, min=13.4ms, max=59.6ms
-  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3786.1ms, max=3786.1ms
-  task_sampling: mean=427.0ms, total=427.0ms, count=1, min=427.0ms, max=427.0ms
-  task_specific_sample: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=372.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:06:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:06:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:06:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:06:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:06:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:06:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:06:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:06:42 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:06:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:06:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006371m	[env.py: 870]
-05/09 02:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:06:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:06:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99566341  0.94342963  0.0063713 ] yaw=-143.1deg	[env.py: 1019]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05464109  0.75295488  0.0063713 ] yaw=-149.2deg	[env.py: 1019]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.0865037   0.74926252  0.0063713 ] yaw=-154.3deg	[env.py: 1019]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:06:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=369.9ms, total=370.0ms	[env.py: 1075]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.943, 0.006)	[env.py: 1079]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.1 deg	[env.py: 1082]
-05/09 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
-05/09 02:06:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:06:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:06:43 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 02:06:43 INFO: [Worker 0] Worker 0 house 1 episode 43/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:06:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:06:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:06:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:06:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:06:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.731s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:06:46 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.597[m] 86.654[deg]	[grasp_sample.py: 539]
-05/09 02:06:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:06:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:06:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:07:06 INFO: [Worker 0] Worker 0 house 1 episode 42 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:07:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:07:29 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:07:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:07:29 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
-05/09 02:07:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:07:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:07:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:07:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:07:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.46s (batch: 3.81s, save: 7.64s)	[pipeline.py: 300]
-05/09 02:07:41 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.59s:
-  episode_total: mean=178.33s, total=178.33s, count=1, min=178327.4ms, max=178327.4ms
-  sensor_polling: mean=447.1ms, total=130.11s, count=291, min=387.3ms, max=675.4ms
-  save_trajectories: mean=7.64s, total=7.64s, count=1, min=7643.6ms, max=7643.6ms
-  physics_step: mean=23.9ms, total=6.97s, count=291, min=16.5ms, max=67.5ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3814.2ms, max=3814.2ms
-  task_sampling: mean=594.6ms, total=594.6ms, count=1, min=594.6ms, max=594.6ms
-  task_specific_sample: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
-  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
-  mj_forward_sync: mean=440.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:07:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:07:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:07:42 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:07:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:07:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:07:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:07:42 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:07:42 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:07:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:07:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042806m	[env.py: 870]
-05/09 02:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:07:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09085461  0.80127163  0.04280594] yaw=-159.0deg	[env.py: 1019]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10731985  0.27980911  0.04280594] yaw=168.2deg	[env.py: 1019]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.07434431  0.3882281   0.04280594] yaw=166.5deg	[env.py: 1019]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:07:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=414.2ms, total=414.3ms	[env.py: 1075]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.091, 0.801, 0.043)	[env.py: 1079]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg	[env.py: 1082]
-05/09 02:07:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
-05/09 02:07:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:07:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:07:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:07:43 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 02:07:43 INFO: [Worker 0] Worker 0 house 1 episode 43/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:07:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:07:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:07:43 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:07:43 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:07:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.929s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:07:44 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.401[m] 83.075[deg]	[grasp_sample.py: 539]
-05/09 02:07:44 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:07:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:07:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:07:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:07:58 INFO: [Worker 0] Worker 0 house 1 episode 43 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:07:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:08:17 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:08:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:08:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:08:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:08:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:08:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:08:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.06s (batch: 4.11s, save: 8.95s)	[pipeline.py: 300]
-05/09 02:08:30 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.44s:
-  episode_total: mean=179.34s, total=179.34s, count=1, min=179338.6ms, max=179338.6ms
-  sensor_polling: mean=453.6ms, total=136.09s, count=300, min=389.9ms, max=900.5ms
-  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8951.2ms, max=8951.2ms
-  physics_step: mean=21.8ms, total=6.55s, count=300, min=13.5ms, max=75.3ms
-  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4105.6ms, max=4105.6ms
-  task_sampling: mean=435.6ms, total=435.6ms, count=1, min=435.6ms, max=435.6ms
-  task_specific_sample: mean=432.0ms, total=432.0ms, count=1, min=432.0ms, max=432.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=365.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:08:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:08:32 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:08:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:08:32 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:08:32 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:08:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:08:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041209m	[env.py: 870]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:08:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.22355505  1.04737344 -0.04120862] yaw=-137.6deg	[env.py: 1019]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07909392  0.14449431 -0.04120862] yaw=151.6deg	[env.py: 1019]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.17868494  0.76011478 -0.04120862] yaw=-157.9deg	[env.py: 1019]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:08:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.0ms, total=198.1ms	[env.py: 1075]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.224, 1.047, -0.041)	[env.py: 1079]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.6 deg	[env.py: 1082]
-05/09 02:08:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
-05/09 02:08:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:08:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:08:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:08:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 02:08:32 INFO: [Worker 0] Worker 0 house 1 episode 44/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:08:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:08:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:08:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:08:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:08:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:08:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.675s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:08:33 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.519[m] 85.001[deg]	[grasp_sample.py: 539]
-05/09 02:08:34 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 02:08:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:08:36 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:08:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:08:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:08:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:08:36 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:08:36 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:08:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:08:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015018m	[env.py: 870]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:08:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.21869618  0.83857886 -0.01501787] yaw=-154.4deg	[env.py: 1019]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00424562  0.67700469 -0.01501787] yaw=-170.4deg	[env.py: 1019]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.27755532  0.92220848 -0.01501787] yaw=-136.8deg	[env.py: 1019]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:08:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.2ms, total=101.3ms	[env.py: 1075]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.219, 0.839, -0.015)	[env.py: 1079]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.4 deg	[env.py: 1082]
-05/09 02:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.717m	[env.py: 1086]
-05/09 02:08:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:08:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:08:36 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 02:08:36 INFO: [Worker 0] Worker 0 house 1 episode 45/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:08:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:08:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:08:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:08:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.357s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:08:36 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.376[m] 81.449[deg]	[grasp_sample.py: 539]
-05/09 02:08:36 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:08:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:08:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:08:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:08:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:08:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:08:52 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:08:53 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 328 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:08:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.453s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:08:54 INFO: [Worker 0] Feasible grasp found 148 (originally 148): w/ 0.026[m] 10.918[deg]	[grasp_sample.py: 539]
-05/09 02:08:55 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 02:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:08:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:08:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:08:57 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045003m	[env.py: 870]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0803409   0.53556285  0.04500286] yaw=-163.9deg	[env.py: 1019]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90279661  0.5201184   0.04500286] yaw=-175.5deg	[env.py: 1019]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.10485084  0.84203327  0.04500286] yaw=-141.0deg	[env.py: 1019]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.2ms, total=190.3ms	[env.py: 1075]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.080, 0.536, 0.045)	[env.py: 1079]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.9 deg	[env.py: 1082]
-05/09 02:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
-05/09 02:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:08:57 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 02:08:57 INFO: [Worker 0] Worker 0 house 1 episode 46/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:08:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:08:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:08:57 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:08:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:08:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.420s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:08:58 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.340[m] 85.060[deg]	[grasp_sample.py: 539]
-05/09 02:08:58 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:08:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:08:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:09:09 INFO: [Worker 0] Worker 0 house 1 episode 43 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:09:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:09:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:09:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:09:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:09:31 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:09:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:09:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:09:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:09:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:09:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:09:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:09:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.98s (batch: 3.92s, save: 9.07s)	[pipeline.py: 300]
-05/09 02:09:44 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.64s:
-  episode_total: mean=182.07s, total=182.07s, count=1, min=182066.3ms, max=182066.3ms
-  sensor_polling: mean=446.3ms, total=133.90s, count=300, min=393.9ms, max=828.1ms
-  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9065.6ms, max=9065.6ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=13.4ms, max=46.1ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3917.8ms, max=3917.8ms
-  task_sampling: mean=635.3ms, total=635.3ms, count=1, min=635.3ms, max=635.3ms
-  task_specific_sample: mean=631.4ms, total=631.4ms, count=1, min=631.4ms, max=631.4ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=500.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:09:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:09:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:09:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:09:46 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:09:46 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:09:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047041m	[env.py: 870]
-05/09 02:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85186849  0.25264447 -0.04704132] yaw=177.2deg	[env.py: 1019]
-05/09 02:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90820696  0.50936924 -0.04704132] yaw=-169.3deg	[env.py: 1019]
-05/09 02:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04042558  0.0430457  -0.04704132] yaw=162.6deg	[env.py: 1019]
-05/09 02:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:09:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=290.7ms, total=290.7ms	[env.py: 1075]
-05/09 02:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.253, -0.047)	[env.py: 1079]
-05/09 02:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.2 deg	[env.py: 1082]
-05/09 02:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/09 02:09:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:09:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:09:47 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 02:09:47 INFO: [Worker 0] Worker 0 house 1 episode 44/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:09:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:09:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:09:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:09:47 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:09:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.213s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:09:50 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.614[m] 91.947[deg]	[grasp_sample.py: 539]
-05/09 02:09:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:09:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:09:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:09:59 INFO: [Worker 0] Worker 0 house 1 episode 43 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:10:17 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:10:17 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:10:17 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
-05/09 02:10:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:10:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:10:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.78s (batch: 4.36s, save: 9.42s)	[pipeline.py: 300]
-05/09 02:10:32 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.70s:
-  episode_total: mean=169.49s, total=169.49s, count=1, min=169488.3ms, max=169488.3ms
-  sensor_polling: mean=456.7ms, total=125.59s, count=275, min=398.8ms, max=880.3ms
-  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9416.0ms, max=9416.0ms
-  physics_step: mean=22.7ms, total=6.25s, count=275, min=17.0ms, max=60.1ms
-  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4364.5ms, max=4364.5ms
-  task_sampling: mean=699.2ms, total=699.2ms, count=1, min=699.2ms, max=699.2ms
-  task_specific_sample: mean=695.4ms, total=695.4ms, count=1, min=695.4ms, max=695.4ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:10:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:10:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:10:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:10:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:10:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:10:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:10:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:10:33 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:10:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:10:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038421m	[env.py: 870]
-05/09 02:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:10:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:10:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94289502  0.16925767 -0.03842055] yaw=156.9deg	[env.py: 1019]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0274197   0.69307128 -0.03842055] yaw=-163.6deg	[env.py: 1019]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.13194387  1.11810057 -0.03842055] yaw=-127.8deg	[env.py: 1019]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:10:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.1ms, total=113.2ms	[env.py: 1075]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.169, -0.038)	[env.py: 1079]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.9 deg	[env.py: 1082]
-05/09 02:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
-05/09 02:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:10:34 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 02:10:34 INFO: [Worker 0] Worker 0 house 1 episode 44/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:10:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:10:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:10:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:10:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:10:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:10:34 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.545[m] 88.924[deg]	[grasp_sample.py: 539]
-05/09 02:10:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:10:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:10:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:10:49 INFO: [Worker 0] Worker 0 house 1 episode 45 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:10:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:11:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:11:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:11:06 INFO: [Worker 0] Worker 0 house 1 episode 46 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:11:12 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:11:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:11:12 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
-05/09 02:11:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:11:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:11:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.69s (batch: 3.83s, save: 7.86s)	[pipeline.py: 300]
-05/09 02:11:25 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.79s:
-  episode_total: mean=85.80s, total=171.60s, count=2, min=2374.6ms, max=169225.5ms
-  sensor_polling: mean=453.9ms, total=123.91s, count=273, min=390.8ms, max=936.8ms
-  save_trajectories: mean=7.86s, total=7.86s, count=1, min=7860.3ms, max=7860.3ms
-  physics_step: mean=22.2ms, total=6.07s, count=273, min=13.7ms, max=57.6ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3831.8ms, max=3831.8ms
-  task_sampling: mean=395.3ms, total=790.6ms, count=2, min=307.7ms, max=482.8ms
-  task_specific_sample: mean=392.4ms, total=784.9ms, count=2, min=305.1ms, max=479.8ms
-  scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.1ms, max=2.0ms
-  mj_forward_sync: mean=367.5us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:11:26 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:11:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:11:26 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
-05/09 02:11:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:11:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:11:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:11:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:11:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:11:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:11:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:11:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:11:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011102m	[env.py: 870]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:11:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8611298   0.13884118 -0.011102  ] yaw=159.5deg	[env.py: 1019]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20978414  0.82905135 -0.011102  ] yaw=-137.3deg	[env.py: 1019]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09391728  0.21318652 -0.011102  ] yaw=168.5deg	[env.py: 1019]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:11:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=430.6ms, total=430.7ms	[env.py: 1075]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.139, -0.011)	[env.py: 1079]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.5 deg	[env.py: 1082]
-05/09 02:11:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
-05/09 02:11:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:11:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:11:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:11:27 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 02:11:27 INFO: [Worker 0] Worker 0 house 1 episode 46/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:11:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:11:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:11:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:11:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.074s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:11:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:11:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.644s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:11:30 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.584[m] 81.801[deg]	[grasp_sample.py: 539]
-05/09 02:11:31 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 02:11:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:11:33 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:11:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:11:33 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:11:33 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:11:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:11:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003976m	[env.py: 870]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:11:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.022126    0.98367372 -0.00397649] yaw=-152.1deg	[env.py: 1019]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08874616  0.16201269 -0.00397649] yaw=158.9deg	[env.py: 1019]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:11:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.6ms	[env.py: 1075]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.984, -0.004)	[env.py: 1079]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
-05/09 02:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
-05/09 02:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:11:33 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:11:33 INFO: [Worker 0] Worker 0 house 1 episode 47/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:11:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:11:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:11:33 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:11:33 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:11:34 INFO: [Worker 0] Object is not in grasp! 0.00092 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/09 02:11:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:11:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:11:34 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:11:34 INFO: [Worker 0] Collision-checked 388 grasps in 0.065s, found 344 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:11:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.412s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:11:35 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.516[m] 76.098[deg]	[grasp_sample.py: 539]
-05/09 02:11:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:11:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:11:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:11:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.981s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:11:35 INFO: [Worker 0] Feasible grasp found 364 (originally 170): w/ 0.076[m] 5.113[deg]	[grasp_sample.py: 539]
-05/09 02:11:35 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:11:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:11:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:11:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:11:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:11:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.83s (batch: 3.86s, save: 6.97s)	[pipeline.py: 300]
-05/09 02:11:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:11:37 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.78s:
-  episode_total: mean=153.28s, total=306.56s, count=2, min=146120.2ms, max=160442.8ms
-  sensor_polling: mean=451.7ms, total=244.36s, count=541, min=389.7ms, max=878.8ms
-  physics_step: mean=22.1ms, total=11.98s, count=541, min=13.6ms, max=52.7ms
-  save_trajectories: mean=6.97s, total=6.97s, count=1, min=6971.1ms, max=6971.1ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3860.5ms, max=3860.5ms
-  task_sampling: mean=389.6ms, total=779.1ms, count=2, min=357.3ms, max=421.8ms
-  task_specific_sample: mean=385.7ms, total=771.4ms, count=2, min=353.1ms, max=418.3ms
-  scene_randomize: mean=2.4ms, total=4.7ms, count=2, min=1.9ms, max=2.8ms
-  mj_forward_sync: mean=440.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=15.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:11:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:11:39 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:11:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:11:39 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:11:39 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:11:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:11:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042167m	[env.py: 870]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:11:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.19494958  1.13652057 -0.04216708] yaw=-138.6deg	[env.py: 1019]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86470638  0.76544553 -0.04216708] yaw=-153.6deg	[env.py: 1019]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05743731  0.98295328 -0.04216708] yaw=-137.4deg	[env.py: 1019]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:11:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.0ms, total=88.0ms	[env.py: 1075]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.195, 1.137, -0.042)	[env.py: 1079]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
-05/09 02:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
-05/09 02:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:11:39 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 02:11:39 INFO: [Worker 0] Worker 0 house 1 episode 47/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:11:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:11:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:11:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:11:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:11:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:11:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.473s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:11:41 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.657[m] 96.992[deg]	[grasp_sample.py: 539]
-05/09 02:11:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:11:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:11:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:11:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:11:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:11:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:12:17 INFO: [Worker 0] Worker 0 house 1 episode 44 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:12:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:12:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:12:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:12:37 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:12:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:12:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:12:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:12:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:12:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:12:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:12:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.63s (batch: 3.86s, save: 10.77s)	[pipeline.py: 300]
-05/09 02:12:53 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.57s:
-  episode_total: mean=186.32s, total=186.32s, count=1, min=186316.6ms, max=186316.6ms
-  sensor_polling: mean=447.4ms, total=134.22s, count=300, min=380.9ms, max=826.9ms
-  save_trajectories: mean=10.77s, total=10.77s, count=1, min=10772.5ms, max=10772.5ms
-  physics_step: mean=22.2ms, total=6.66s, count=300, min=16.5ms, max=58.5ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3861.9ms, max=3861.9ms
-  task_sampling: mean=569.7ms, total=569.7ms, count=1, min=569.7ms, max=569.7ms
-  task_specific_sample: mean=561.9ms, total=561.9ms, count=1, min=561.9ms, max=561.9ms
-  scene_randomize: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
-  mj_forward_sync: mean=431.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:12:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:12:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:12:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:12:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:12:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:12:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:12:54 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:12:54 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:12:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:12:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005610m	[env.py: 870]
-05/09 02:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:12:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:12:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10905762  0.15058874 -0.00561045] yaw=147.5deg	[env.py: 1019]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0512249   0.97661351 -0.00561045] yaw=-144.9deg	[env.py: 1019]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88989133  0.58463555 -0.00561045] yaw=-168.4deg	[env.py: 1019]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:12:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=408.3ms, total=408.4ms	[env.py: 1075]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.109, 0.151, -0.006)	[env.py: 1079]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.5 deg	[env.py: 1082]
-05/09 02:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
-05/09 02:12:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:12:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:12:55 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 02:12:55 INFO: [Worker 0] Worker 0 house 1 episode 45/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:12:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:12:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:12:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:12:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:12:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:12:56 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.404[m] 88.086[deg]	[grasp_sample.py: 539]
-05/09 02:12:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:12:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:12:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:12:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:12:59 INFO: [Worker 0] Worker 0 house 1 episode 44 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:13:22 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:13:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:13:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:13:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:13:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:13:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.98s (batch: 4.56s, save: 8.42s)	[pipeline.py: 300]
-05/09 02:13:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:13:35 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.38s:
-  episode_total: mean=181.85s, total=181.85s, count=1, min=181851.8ms, max=181851.8ms
-  sensor_polling: mean=449.6ms, total=134.89s, count=300, min=389.7ms, max=801.9ms
-  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8420.2ms, max=8420.2ms
-  physics_step: mean=21.7ms, total=6.50s, count=300, min=15.2ms, max=51.6ms
-  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4562.9ms, max=4562.9ms
-  task_sampling: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms
-  task_specific_sample: mean=376.9ms, total=376.9ms, count=1, min=376.9ms, max=376.9ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=437.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:13:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:13:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:13:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:13:37 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:13:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:13:37 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:13:37 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:13:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:13:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045129m	[env.py: 870]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:13:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82408772  0.34625575  0.04512878] yaw=172.9deg	[env.py: 1019]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98275846  0.68066948  0.04512878] yaw=-159.2deg	[env.py: 1019]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:13:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.9ms, total=186.9ms	[env.py: 1075]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.346, 0.045)	[env.py: 1079]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.9 deg	[env.py: 1082]
-05/09 02:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
-05/09 02:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:13:37 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 02:13:37 INFO: [Worker 0] Worker 0 house 1 episode 45/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:13:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:13:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:13:37 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:13:37 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:13:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.272s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:13:39 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.625[m] 93.196[deg]	[grasp_sample.py: 539]
-05/09 02:13:39 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:13:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:13:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:13:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:13:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:13:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:13:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:13:41 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:13:41 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:13:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.486s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:13:43 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.084[m] 2.070[deg]	[grasp_sample.py: 539]
-05/09 02:13:43 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:13:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:13:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:13:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:13:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:13:59 INFO: [Worker 0] Worker 0 house 1 episode 47 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:14:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:14:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:14:15 INFO: [Worker 0] Worker 0 house 1 episode 47 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:14:20 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:14:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:14:20 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
-05/09 02:14:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:14:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:14:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.51s (batch: 4.25s, save: 9.27s)	[pipeline.py: 300]
-05/09 02:14:34 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.04s:
-  episode_total: mean=92.80s, total=185.59s, count=2, min=4550.9ms, max=181043.2ms
-  sensor_polling: mean=449.0ms, total=133.81s, count=298, min=387.5ms, max=848.5ms
-  save_trajectories: mean=9.27s, total=9.27s, count=1, min=9265.8ms, max=9265.8ms
-  physics_step: mean=23.7ms, total=7.06s, count=298, min=13.6ms, max=67.1ms
-  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4246.6ms, max=4246.6ms
-  task_sampling: mean=521.3ms, total=1.04s, count=2, min=354.6ms, max=688.0ms
-  task_specific_sample: mean=517.9ms, total=1.04s, count=2, min=352.0ms, max=683.8ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
-  mj_forward_sync: mean=457.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:14:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:14:35 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:14:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:14:35 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:14:35 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:14:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:14:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012527m	[env.py: 870]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:14:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85288344  0.45324131  0.01252738] yaw=-189.3deg	[env.py: 1019]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04876219  0.42235929  0.01252738] yaw=186.8deg	[env.py: 1019]
-05/09 02:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:14:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.7ms	[env.py: 1075]
-05/09 02:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.453, 0.013)	[env.py: 1079]
-05/09 02:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.3 deg	[env.py: 1082]
-05/09 02:14:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
-05/09 02:14:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:14:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:14:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:14:36 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 02:14:36 INFO: [Worker 0] Worker 0 house 1 episode 48/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:14:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:14:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:14:36 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:14:36 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:14:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.384s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:14:37 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.599[m] 91.858[deg]	[grasp_sample.py: 539]
-05/09 02:14:37 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:14:37 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:14:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:14:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:14:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:14:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:14:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:14:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:14:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:14:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:14:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.33s (batch: 3.95s, save: 7.39s)	[pipeline.py: 300]
-05/09 02:14:49 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.38s:
-  episode_total: mean=190.74s, total=190.74s, count=1, min=190735.6ms, max=190735.6ms
-  sensor_polling: mean=449.6ms, total=134.89s, count=300, min=397.6ms, max=869.6ms
-  save_trajectories: mean=7.39s, total=7.39s, count=1, min=7385.3ms, max=7385.3ms
-  physics_step: mean=21.3ms, total=6.38s, count=300, min=14.0ms, max=73.2ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3946.2ms, max=3946.2ms
-  task_sampling: mean=376.0ms, total=376.0ms, count=1, min=376.0ms, max=376.0ms
-  task_specific_sample: mean=372.6ms, total=372.6ms, count=1, min=372.6ms, max=372.6ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=362.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:14:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:14:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:14:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:14:51 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:14:51 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:14:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:14:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009960m	[env.py: 870]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:14:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02693054  0.28079687 -0.00996016] yaw=177.0deg	[env.py: 1019]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15150718  0.81888582 -0.00996016] yaw=-142.6deg	[env.py: 1019]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08527911  0.62935305 -0.00996016] yaw=-174.0deg	[env.py: 1019]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:14:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.5ms, total=110.5ms	[env.py: 1075]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.027, 0.281, -0.010)	[env.py: 1079]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.0 deg	[env.py: 1082]
-05/09 02:14:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
-05/09 02:14:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:14:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:14:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:14:51 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 02:14:51 INFO: [Worker 0] Worker 0 house 1 episode 48/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:14:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:14:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:14:51 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:14:51 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:14:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:14:52 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.444[m] 90.248[deg]	[grasp_sample.py: 539]
-05/09 02:14:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:14:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:14:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:14:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:15:11 INFO: [Worker 0] Worker 0 house 1 episode 45 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:15:31 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:15:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:15:31 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
-05/09 02:15:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:15:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:15:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:15:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:15:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:15:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:15:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.26s (batch: 3.63s, save: 7.63s)	[pipeline.py: 300]
-05/09 02:15:43 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.70s:
-  episode_total: mean=168.80s, total=168.80s, count=1, min=168804.3ms, max=168804.3ms
-  sensor_polling: mean=448.8ms, total=123.88s, count=276, min=387.2ms, max=833.1ms
-  save_trajectories: mean=7.63s, total=7.63s, count=1, min=7630.1ms, max=7630.1ms
-  physics_step: mean=21.9ms, total=6.05s, count=276, min=16.6ms, max=66.9ms
-  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3632.0ms, max=3632.0ms
-  task_sampling: mean=698.1ms, total=698.1ms, count=1, min=698.1ms, max=698.1ms
-  task_specific_sample: mean=694.0ms, total=694.0ms, count=1, min=694.0ms, max=694.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=436.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:15:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:15:45 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:15:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:15:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:15:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:15:45 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:15:45 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:15:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:15:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046896m	[env.py: 870]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:15:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14964866  0.98962329  0.04689631] yaw=-147.2deg	[env.py: 1019]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84429204  0.57901041  0.04689631] yaw=-160.4deg	[env.py: 1019]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:15:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=395.1ms, total=395.1ms	[env.py: 1075]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.150, 0.990, 0.047)	[env.py: 1079]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.2 deg	[env.py: 1082]
-05/09 02:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
-05/09 02:15:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:15:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:15:46 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 02:15:46 INFO: [Worker 0] Worker 0 house 1 episode 46/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:15:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:15:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:15:46 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:15:46 INFO: [Worker 0] Collision-checked 388 grasps in 0.109s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:15:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:15:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.938s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:15:47 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.481[m] 80.766[deg]	[grasp_sample.py: 539]
-05/09 02:15:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:15:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:15:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:15:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:16:06 INFO: [Worker 0] Worker 0 house 1 episode 45 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:16:29 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:16:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:16:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:16:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:16:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:16:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:16:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.49s (batch: 4.22s, save: 8.27s)	[pipeline.py: 300]
-05/09 02:16:42 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.44s:
-  episode_total: mean=185.14s, total=185.14s, count=1, min=185137.8ms, max=185137.8ms
-  sensor_polling: mean=452.8ms, total=135.84s, count=300, min=388.0ms, max=833.7ms
-  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8269.5ms, max=8269.5ms
-  physics_step: mean=21.8ms, total=6.54s, count=300, min=13.4ms, max=47.5ms
-  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4219.1ms, max=4219.1ms
-  task_sampling: mean=438.0ms, total=438.0ms, count=1, min=438.0ms, max=438.0ms
-  task_specific_sample: mean=435.0ms, total=435.0ms, count=1, min=435.0ms, max=435.0ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=372.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:16:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:16:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:16:43 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:16:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:16:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:16:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:16:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:16:43 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:16:43 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:16:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:16:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036907m	[env.py: 870]
-05/09 02:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:16:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15178593  1.14257791 -0.03690724] yaw=-143.2deg	[env.py: 1019]
-05/09 02:16:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.1106419   0.62072564 -0.03690724] yaw=-157.6deg	[env.py: 1019]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.34010845  1.0069556  -0.03690724] yaw=-137.5deg	[env.py: 1019]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:16:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.8ms, total=145.8ms	[env.py: 1075]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.152, 1.143, -0.037)	[env.py: 1079]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg	[env.py: 1082]
-05/09 02:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
-05/09 02:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:16:44 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 02:16:44 INFO: [Worker 0] Worker 0 house 1 episode 46/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:16:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:16:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:16:44 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:16:44 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:16:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.478s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:16:47 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.586[m] 83.524[deg]	[grasp_sample.py: 539]
-05/09 02:16:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:16:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:16:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:16:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:17:03 INFO: [Worker 0] Worker 0 house 1 episode 48 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:17:16 INFO: [Worker 0] Worker 0 house 1 episode 48 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:17:24 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:17:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:17:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:17:36 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:17:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:17:36 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
-05/09 02:17:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:17:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:17:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.63s (batch: 3.97s, save: 9.67s)	[pipeline.py: 300]
-05/09 02:17:38 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.48s:
-  episode_total: mean=182.89s, total=182.89s, count=1, min=182887.2ms, max=182887.2ms
-  sensor_polling: mean=453.8ms, total=136.14s, count=300, min=393.1ms, max=982.7ms
-  save_trajectories: mean=9.67s, total=9.67s, count=1, min=9667.1ms, max=9667.1ms
-  physics_step: mean=21.9ms, total=6.56s, count=300, min=13.7ms, max=65.8ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3966.1ms, max=3966.1ms
-  task_sampling: mean=480.6ms, total=480.6ms, count=1, min=480.6ms, max=480.6ms
-  task_specific_sample: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=385.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:17:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:17:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:17:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:17:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:17:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:17:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:17:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022703m	[env.py: 870]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:17:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1496698   0.72028058 -0.02270289] yaw=-159.9deg	[env.py: 1019]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96899063  0.11916027 -0.02270289] yaw=155.1deg	[env.py: 1019]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83296796  0.49960469 -0.02270289] yaw=-184.3deg	[env.py: 1019]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:17:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.3ms, total=118.3ms	[env.py: 1075]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.150, 0.720, -0.023)	[env.py: 1079]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
-05/09 02:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.718m	[env.py: 1086]
-05/09 02:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:17:40 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 02:17:40 INFO: [Worker 0] Worker 0 house 1 episode 49/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:17:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:17:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:17:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:17:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.394s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:17:41 INFO: [Worker 0] Feasible grasp found 344 (originally 150): w/ 0.405[m] 94.553[deg]	[grasp_sample.py: 539]
-05/09 02:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:17:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:17:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:17:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:17:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:17:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:17:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.04s (batch: 3.95s, save: 7.09s)	[pipeline.py: 300]
-05/09 02:17:48 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.40s:
-  episode_total: mean=176.75s, total=176.75s, count=1, min=176746.7ms, max=176746.7ms
-  sensor_polling: mean=457.4ms, total=131.28s, count=287, min=395.5ms, max=874.8ms
-  physics_step: mean=25.2ms, total=7.22s, count=287, min=14.0ms, max=133.3ms
-  save_trajectories: mean=7.09s, total=7.09s, count=1, min=7087.3ms, max=7087.3ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3949.8ms, max=3949.8ms
-  task_sampling: mean=397.3ms, total=397.3ms, count=1, min=397.3ms, max=397.3ms
-  task_specific_sample: mean=393.6ms, total=393.6ms, count=1, min=393.6ms, max=393.6ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=384.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:17:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:17:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:17:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:17:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:17:49 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:17:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:17:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001746m	[env.py: 870]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:17:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90472984  0.35064783  0.00174629] yaw=170.6deg	[env.py: 1019]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93463086  0.75707684  0.00174629] yaw=-153.1deg	[env.py: 1019]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0312727   0.78512409  0.00174629] yaw=-149.5deg	[env.py: 1019]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:17:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.1ms, total=139.1ms	[env.py: 1075]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.351, 0.002)	[env.py: 1079]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg	[env.py: 1082]
-05/09 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
-05/09 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:17:50 INFO: [Worker 0] Sampled task 'Open the household appliance'	[task_sampler.py: 1136]
-05/09 02:17:50 INFO: [Worker 0] Worker 0 house 1 episode 49/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:17:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:17:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:17:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:17:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:17:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:17:50 INFO: [Worker 0] Feasible grasp found 363 (originally 169): w/ 0.510[m] 88.315[deg]	[grasp_sample.py: 539]
-05/09 02:17:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:17:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:17:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:17:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:17:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:18:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:18:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:18:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:18:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:18:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:18:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:18:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:18:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.452s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:18:14 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.380[deg]	[grasp_sample.py: 539]
-05/09 02:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:18:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:18:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:18:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:18:21 INFO: [Worker 0] Worker 0 house 1 episode 46 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:18:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:18:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:18:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:18:42 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:18:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:18:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:18:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:18:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:18:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:18:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:18:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.80s (batch: 3.82s, save: 9.98s)	[pipeline.py: 300]
-05/09 02:18:57 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.72s:
-  episode_total: mean=191.97s, total=191.97s, count=1, min=191974.9ms, max=191974.9ms
-  sensor_polling: mean=453.6ms, total=136.09s, count=300, min=392.0ms, max=858.5ms
-  save_trajectories: mean=9.98s, total=9.98s, count=1, min=9975.8ms, max=9975.8ms
-  physics_step: mean=21.6ms, total=6.47s, count=300, min=14.1ms, max=49.7ms
-  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3823.4ms, max=3823.4ms
-  task_sampling: mean=724.3ms, total=724.3ms, count=1, min=724.3ms, max=724.3ms
-  task_specific_sample: mean=720.5ms, total=720.5ms, count=1, min=720.5ms, max=720.5ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=433.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:18:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:18:59 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:18:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:18:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:18:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:18:59 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:18:59 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:18:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:18:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020310m	[env.py: 870]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:18:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99336767 -0.01247016  0.02031033] yaw=148.6deg	[env.py: 1019]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93170292  0.50352134  0.02031033] yaw=-168.4deg	[env.py: 1019]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98502313  0.5362501   0.02031033] yaw=-169.4deg	[env.py: 1019]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:18:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=486.3ms, total=486.4ms	[env.py: 1075]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.993, -0.012, 0.020)	[env.py: 1079]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg	[env.py: 1082]
-05/09 02:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
-05/09 02:18:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:18:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:18:59 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 02:18:59 INFO: [Worker 0] Worker 0 house 1 episode 47/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:18:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:18:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:18:59 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:18:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:19:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:19:00 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.460[m] 78.976[deg]	[grasp_sample.py: 539]
-05/09 02:19:00 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:19:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:19:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:19:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/09 02:19:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:19:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:19:08 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:19:08 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:19:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.567s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:19:10 INFO: [Worker 0] Feasible grasp found 197 (originally 3): w/ 0.521[m] 36.862[deg]	[grasp_sample.py: 539]
-05/09 02:19:10 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:19:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:19:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:19:18 INFO: [Worker 0] Worker 0 house 1 episode 46 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:19:42 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:19:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:19:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:19:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:19:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:19:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:19:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.24s (batch: 3.91s, save: 8.33s)	[pipeline.py: 300]
-05/09 02:19:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:19:55 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.41s:
-  episode_total: mean=191.61s, total=191.61s, count=1, min=191605.4ms, max=191605.4ms
-  sensor_polling: mean=447.7ms, total=134.32s, count=300, min=386.6ms, max=745.3ms
-  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8330.2ms, max=8330.2ms
-  physics_step: mean=21.3ms, total=6.40s, count=300, min=13.4ms, max=43.3ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3914.5ms, max=3914.5ms
-  task_sampling: mean=406.1ms, total=406.1ms, count=1, min=406.1ms, max=406.1ms
-  task_specific_sample: mean=402.5ms, total=402.5ms, count=1, min=402.5ms, max=402.5ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=400.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:19:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:19:57 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:19:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:19:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:19:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:19:57 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:19:57 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:19:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:19:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038167m	[env.py: 870]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:19:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15594152  1.07365622  0.03816651] yaw=-135.0deg	[env.py: 1019]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01707495  0.38184402  0.03816651] yaw=171.7deg	[env.py: 1019]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87590181  0.10250601  0.03816651] yaw=153.3deg	[env.py: 1019]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:19:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.5ms	[env.py: 1075]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.156, 1.074, 0.038)	[env.py: 1079]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg	[env.py: 1082]
-05/09 02:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
-05/09 02:19:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:19:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:19:57 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 02:19:57 INFO: [Worker 0] Worker 0 house 1 episode 47/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:19:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:19:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:19:57 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:19:57 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:19:57 INFO: [Worker 0] Worker 0 house 1 episode 49 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:19:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:19:59 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.532[m] 85.987[deg]	[grasp_sample.py: 539]
-05/09 02:19:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:19:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:20:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:20:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:20:16 INFO: [Worker 0] Worker 0 house 1 episode 49 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:20:20 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:20:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:20:20 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
-05/09 02:20:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:20:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:20:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.50s (batch: 3.74s, save: 7.76s)	[pipeline.py: 300]
-05/09 02:20:32 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=0.37s:
-  episode_total: mean=172.67s, total=172.67s, count=1, min=172666.6ms, max=172666.6ms
-  sensor_polling: mean=454.2ms, total=127.64s, count=281, min=397.0ms, max=752.9ms
-  save_trajectories: mean=7.76s, total=7.76s, count=1, min=7758.2ms, max=7758.2ms
-  physics_step: mean=22.2ms, total=6.24s, count=281, min=13.6ms, max=51.6ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3744.8ms, max=3744.8ms
-  task_sampling: mean=365.6ms, total=365.6ms, count=1, min=365.6ms, max=365.6ms
-  task_specific_sample: mean=362.4ms, total=362.4ms, count=1, min=362.4ms, max=362.4ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=369.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:20:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:20:34 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:20:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:20:34 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:20:34 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:20:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:20:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013038m	[env.py: 870]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:20:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93161575 -0.04430366  0.01303803] yaw=144.9deg	[env.py: 1019]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12335566  1.13362195  0.01303803] yaw=-137.0deg	[env.py: 1019]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05126614  1.02744565  0.01303803] yaw=-142.9deg	[env.py: 1019]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:20:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=257.9ms, total=258.0ms	[env.py: 1075]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, -0.044, 0.013)	[env.py: 1079]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.9 deg	[env.py: 1082]
-05/09 02:20:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
-05/09 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:20:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:20:35 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 02:20:35 INFO: [Worker 0] Worker 0 house 1 episode 50/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:20:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:20:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:20:35 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:20:35 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:20:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.093s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:20:37 INFO: [Worker 0] Feasible grasp found 369 (originally 175): w/ 0.602[m] 88.455[deg]	[grasp_sample.py: 539]
-05/09 02:20:38 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:20:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:20:38 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
-05/09 02:20:38 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 02:20:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:20:40 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:20:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:20:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:20:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:20:40 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:20:40 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:20:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:20:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009708m	[env.py: 870]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:20:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94995006 -0.03012274  0.00970824] yaw=161.7deg	[env.py: 1019]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.25143972  0.94510749  0.00970824] yaw=-134.3deg	[env.py: 1019]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86684201  0.22502118  0.00970824] yaw=168.7deg	[env.py: 1019]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:20:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.1ms	[env.py: 1075]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, -0.030, 0.010)	[env.py: 1079]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.7 deg	[env.py: 1082]
-05/09 02:20:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
-05/09 02:20:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:20:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:20:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:20:40 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:20:40 INFO: [Worker 0] Worker 0 house 1 episode 51/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:20:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:20:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:20:40 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:20:40 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:20:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.429s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:20:42 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.652[m] 94.128[deg]	[grasp_sample.py: 539]
-05/09 02:20:42 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:20:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:20:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:20:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:20:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:20:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:20:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.55s (batch: 3.85s, save: 7.70s)	[pipeline.py: 300]
-05/09 02:20:50 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=0.39s:
-  episode_total: mean=180.66s, total=180.66s, count=1, min=180658.9ms, max=180658.9ms
-  sensor_polling: mean=452.7ms, total=135.37s, count=299, min=386.7ms, max=786.7ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7701.0ms, max=7701.0ms
-  physics_step: mean=24.6ms, total=7.36s, count=299, min=13.6ms, max=78.6ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3851.4ms, max=3851.4ms
-  task_sampling: mean=389.6ms, total=389.6ms, count=1, min=389.6ms, max=389.6ms
-  task_specific_sample: mean=386.2ms, total=386.2ms, count=1, min=386.2ms, max=386.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=373.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:20:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:20:51 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:20:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:20:51 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:20:51 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:20:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:20:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038561m	[env.py: 870]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:20:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96068167  0.66563875 -0.03856073] yaw=-172.1deg	[env.py: 1019]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02109674  0.79310561 -0.03856073] yaw=-145.9deg	[env.py: 1019]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95419858  0.35660051 -0.03856073] yaw=185.9deg	[env.py: 1019]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:20:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.2ms, total=78.2ms	[env.py: 1075]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.666, -0.039)	[env.py: 1079]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg	[env.py: 1082]
-05/09 02:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
-05/09 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:20:52 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 02:20:52 INFO: [Worker 0] Worker 0 house 1 episode 50/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:20:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:20:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:20:52 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:20:52 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:20:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.400s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:20:52 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.557[m] 91.814[deg]	[grasp_sample.py: 539]
-05/09 02:20:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:20:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:20:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:20:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:21:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:21:19 INFO: [Worker 0] Worker 0 house 1 episode 47 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:21:39 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:21:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:21:39 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
-05/09 02:21:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:21:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:21:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:21:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:21:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:21:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.79s (batch: 3.86s, save: 7.92s)	[pipeline.py: 300]
-05/09 02:21:52 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.75s:
-  episode_total: mean=173.16s, total=173.16s, count=1, min=173162.7ms, max=173162.7ms
-  sensor_polling: mean=451.9ms, total=128.79s, count=285, min=391.7ms, max=757.3ms
-  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7924.3ms, max=7924.3ms
-  physics_step: mean=22.4ms, total=6.38s, count=285, min=16.6ms, max=57.4ms
-  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3863.9ms, max=3863.9ms
-  task_sampling: mean=745.8ms, total=745.8ms, count=1, min=745.8ms, max=745.8ms
-  task_specific_sample: mean=741.7ms, total=741.7ms, count=1, min=741.7ms, max=741.7ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=430.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:21:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:21:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:21:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:21:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:21:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:21:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:21:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:21:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025613m	[env.py: 870]
-05/09 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:21:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97641443  0.73354764 -0.02561331] yaw=-165.9deg	[env.py: 1019]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08998798  0.18373405 -0.02561331] yaw=164.5deg	[env.py: 1019]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.32587579  0.96188223 -0.02561331] yaw=-123.2deg	[env.py: 1019]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:21:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=463.1ms, total=463.2ms	[env.py: 1075]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.976, 0.734, -0.026)	[env.py: 1079]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg	[env.py: 1082]
-05/09 02:21:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
-05/09 02:21:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:21:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:21:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:21:54 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 02:21:54 INFO: [Worker 0] Worker 0 house 1 episode 48/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:21:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:21:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:21:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:21:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.147s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:21:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:21:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.225s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:21:56 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.527[m] 89.542[deg]	[grasp_sample.py: 539]
-05/09 02:21:56 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:21:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:21:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:21:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:22:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:22:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:22:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:22:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:22:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:22:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:22:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:22:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:22:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:22:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:22:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.530s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:22:16 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.085[m] 0.261[deg]	[grasp_sample.py: 539]
-05/09 02:22:16 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:22:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:22:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:22:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:22:33 INFO: [Worker 0] Worker 0 house 1 episode 47 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:22:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:22:54 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:22:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:22:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:22:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:23:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:23:06 INFO: [Worker 0] Worker 0 house 1 episode 51 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:23:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:23:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:23:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.32s (batch: 3.85s, save: 9.47s)	[pipeline.py: 300]
-05/09 02:23:08 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.51s:
-  episode_total: mean=191.57s, total=191.57s, count=1, min=191572.0ms, max=191572.0ms
-  sensor_polling: mean=443.3ms, total=132.99s, count=300, min=385.1ms, max=699.4ms
-  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9471.6ms, max=9471.6ms
-  physics_step: mean=21.0ms, total=6.31s, count=300, min=15.9ms, max=58.9ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3848.3ms, max=3848.3ms
-  task_sampling: mean=509.1ms, total=509.1ms, count=1, min=509.1ms, max=509.1ms
-  task_specific_sample: mean=505.8ms, total=505.8ms, count=1, min=505.8ms, max=505.8ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=365.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=28.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:23:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:23:10 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:23:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:23:10 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:23:10 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:23:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:23:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048229m	[env.py: 870]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:23:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87397003  0.23077464 -0.04822861] yaw=159.9deg	[env.py: 1019]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0684165   0.46825164 -0.04822861] yaw=-168.6deg	[env.py: 1019]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01794744  0.65794298 -0.04822861] yaw=-169.6deg	[env.py: 1019]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:23:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.8ms, total=253.8ms	[env.py: 1075]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.874, 0.231, -0.048)	[env.py: 1079]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.9 deg	[env.py: 1082]
-05/09 02:23:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
-05/09 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:23:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:23:11 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 02:23:11 INFO: [Worker 0] Worker 0 house 1 episode 48/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:23:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:23:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:23:11 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:23:11 INFO: [Worker 0] Collision-checked 388 grasps in 0.127s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:23:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.883s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:23:12 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.611[m] 92.189[deg]	[grasp_sample.py: 539]
-05/09 02:23:12 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:23:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:23:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:23:19 INFO: [Worker 0] Worker 0 house 1 episode 50 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:23:28 INFO: [Worker 0] Saved videos eagerly for episode 63 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:23:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:23:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:23:39 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:23:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:23:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:23:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:23:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:23:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.15s (batch: 3.90s, save: 9.25s)	[pipeline.py: 300]
-05/09 02:23:42 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.90s:
-  episode_total: mean=93.29s, total=186.57s, count=2, min=3933.7ms, max=182637.9ms
-  sensor_polling: mean=450.5ms, total=135.15s, count=300, min=391.0ms, max=791.6ms
-  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9249.0ms, max=9249.0ms
-  physics_step: mean=21.2ms, total=6.36s, count=300, min=13.7ms, max=58.8ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3904.1ms, max=3904.1ms
-  task_sampling: mean=451.4ms, total=902.7ms, count=2, min=377.4ms, max=525.4ms
-  task_specific_sample: mean=448.0ms, total=896.0ms, count=2, min=374.7ms, max=521.3ms
-  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
-  mj_forward_sync: mean=404.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:23:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:23:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:23:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:23:44 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:23:44 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:23:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:23:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012699m	[env.py: 870]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:23:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8459503   0.61789329 -0.01269858] yaw=-167.4deg	[env.py: 1019]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0003787   0.35264934 -0.01269858] yaw=170.6deg	[env.py: 1019]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15619474  0.88383377 -0.01269858] yaw=-146.5deg	[env.py: 1019]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:23:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.4ms, total=107.4ms	[env.py: 1075]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.846, 0.618, -0.013)	[env.py: 1079]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
-05/09 02:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/09 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:23:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:23:44 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 02:23:44 INFO: [Worker 0] Worker 0 house 1 episode 52/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:23:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:23:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:23:44 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:23:44 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:23:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.369s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:23:46 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.584[m] 90.222[deg]	[grasp_sample.py: 539]
-05/09 02:23:46 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:23:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:23:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:23:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:23:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:23:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.89s (batch: 4.15s, save: 7.74s)	[pipeline.py: 300]
-05/09 02:23:52 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.33s:
-  episode_total: mean=180.47s, total=180.47s, count=1, min=180469.7ms, max=180469.7ms
-  sensor_polling: mean=455.5ms, total=136.66s, count=300, min=390.2ms, max=802.9ms
-  save_trajectories: mean=7.74s, total=7.74s, count=1, min=7735.6ms, max=7735.6ms
-  physics_step: mean=22.2ms, total=6.66s, count=300, min=14.4ms, max=70.8ms
-  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4153.6ms, max=4153.6ms
-  task_sampling: mean=330.1ms, total=330.1ms, count=1, min=330.1ms, max=330.1ms
-  task_specific_sample: mean=326.9ms, total=326.9ms, count=1, min=326.9ms, max=326.9ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=373.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:23:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:23:53 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:23:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:23:53 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:23:53 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:23:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:23:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009800m	[env.py: 870]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:23:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95929007  0.4966234   0.00979989] yaw=-169.2deg	[env.py: 1019]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05723403  0.22528001  0.00979989] yaw=169.5deg	[env.py: 1019]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99590678  0.53521116  0.00979989] yaw=-161.5deg	[env.py: 1019]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:23:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.3ms, total=90.3ms	[env.py: 1075]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.497, 0.010)	[env.py: 1079]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.2 deg	[env.py: 1082]
-05/09 02:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
-05/09 02:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:23:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 02:23:54 INFO: [Worker 0] Worker 0 house 1 episode 51/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:23:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:23:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:23:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:23:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:23:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.543s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:23:54 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.489[m] 89.005[deg]	[grasp_sample.py: 539]
-05/09 02:23:54 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:23:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:23:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:24:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:24:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:24:20 INFO: [Worker 0] Worker 0 house 1 episode 48 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:24:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:24:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:24:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:24:41 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:24:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:24:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:24:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:24:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:24:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:24:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:24:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:24:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.55s (batch: 3.64s, save: 7.91s)	[pipeline.py: 300]
-05/09 02:24:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:24:53 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.81s:
-  episode_total: mean=179.55s, total=179.55s, count=1, min=179547.4ms, max=179547.4ms
-  sensor_polling: mean=448.3ms, total=134.48s, count=300, min=388.4ms, max=797.4ms
-  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7905.7ms, max=7905.7ms
-  physics_step: mean=21.2ms, total=6.36s, count=300, min=15.9ms, max=64.9ms
-  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3644.1ms, max=3644.1ms
-  task_sampling: mean=810.9ms, total=810.9ms, count=1, min=810.9ms, max=810.9ms
-  task_specific_sample: mean=806.3ms, total=806.3ms, count=1, min=806.3ms, max=806.3ms
-  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
-  mj_forward_sync: mean=522.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:24:54 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:24:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:24:54 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:24:55 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:24:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:24:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001185m	[env.py: 870]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:24:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02903381  0.76791531 -0.00118472] yaw=-160.7deg	[env.py: 1019]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95355088  0.32876428 -0.00118472] yaw=172.4deg	[env.py: 1019]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.16545096  1.17090871 -0.00118472] yaw=-141.8deg	[env.py: 1019]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:24:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=120.9ms	[env.py: 1075]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.029, 0.768, -0.001)	[env.py: 1079]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg	[env.py: 1082]
-05/09 02:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
-05/09 02:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:24:55 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 02:24:55 INFO: [Worker 0] Worker 0 house 1 episode 49/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:24:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:24:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:24:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:24:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:24:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:24:55 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.494[m] 96.475[deg]	[grasp_sample.py: 539]
-05/09 02:24:55 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:24:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:24:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:25:35 INFO: [Worker 0] Worker 0 house 1 episode 48 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:25:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:25:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:25:58 INFO: [Worker 0] Saved videos eagerly for episode 63 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:25:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:25:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:26:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:26:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:26:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:26:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.37s (batch: 3.88s, save: 9.49s)	[pipeline.py: 300]
-05/09 02:26:11 INFO: [Worker 0] Worker 0 house 1 episode 52 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:26:12 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.52s:
-  episode_total: mean=181.79s, total=181.79s, count=1, min=181789.8ms, max=181789.8ms
-  sensor_polling: mean=446.5ms, total=133.95s, count=300, min=392.7ms, max=668.1ms
-  save_trajectories: mean=9.49s, total=9.49s, count=1, min=9489.4ms, max=9489.4ms
-  physics_step: mean=21.2ms, total=6.37s, count=300, min=16.9ms, max=61.0ms
-  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3877.9ms, max=3877.9ms
-  task_sampling: mean=517.1ms, total=517.1ms, count=1, min=517.1ms, max=517.1ms
-  task_specific_sample: mean=513.2ms, total=513.2ms, count=1, min=513.2ms, max=513.2ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=439.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:26:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:26:14 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:26:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:26:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:26:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:26:14 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:26:14 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:26:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:26:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006651m	[env.py: 870]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:26:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92519865  0.11390528  0.0066514 ] yaw=156.9deg	[env.py: 1019]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 94.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.108547    0.73117568  0.0066514 ] yaw=-161.0deg	[env.py: 1019]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02210827  0.5989794   0.0066514 ] yaw=-161.5deg	[env.py: 1019]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:26:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=359.9ms, total=360.0ms	[env.py: 1075]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.114, 0.007)	[env.py: 1079]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.9 deg	[env.py: 1082]
-05/09 02:26:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
-05/09 02:26:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:26:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:26:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:26:14 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 02:26:14 INFO: [Worker 0] Worker 0 house 1 episode 49/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:26:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:26:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:26:15 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:26:15 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:26:17 INFO: [Worker 0] Worker 0 house 1 episode 51 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:26:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.725s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:26:17 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.511[m] 80.855[deg]	[grasp_sample.py: 539]
-05/09 02:26:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:26:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:26:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:26:33 INFO: [Worker 0] Saved videos eagerly for episode 64 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:26:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:26:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:26:36 INFO: [Worker 0] Saved videos eagerly for episode 63 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:26:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:26:36 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
-05/09 02:26:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:26:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:26:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.18s (batch: 4.03s, save: 9.14s)	[pipeline.py: 300]
-05/09 02:26:47 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.39s:
-  episode_total: mean=183.41s, total=183.41s, count=1, min=183414.1ms, max=183414.1ms
-  sensor_polling: mean=447.5ms, total=134.24s, count=300, min=384.7ms, max=731.5ms
-  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9142.9ms, max=9142.9ms
-  physics_step: mean=22.8ms, total=6.85s, count=300, min=13.9ms, max=59.1ms
-  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4033.9ms, max=4033.9ms
-  task_sampling: mean=394.0ms, total=394.0ms, count=1, min=394.0ms, max=394.0ms
-  task_specific_sample: mean=390.7ms, total=390.7ms, count=1, min=390.7ms, max=390.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=365.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:26:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:26:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:26:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:26:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:26:49 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:26:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:26:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008199m	[env.py: 870]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:26:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.12564477  0.15027664 -0.0081985 ] yaw=147.8deg	[env.py: 1019]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98511756  0.71265811 -0.0081985 ] yaw=-152.4deg	[env.py: 1019]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03884482  0.20511557 -0.0081985 ] yaw=159.1deg	[env.py: 1019]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:26:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.8ms, total=91.8ms	[env.py: 1075]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.126, 0.150, -0.008)	[env.py: 1079]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.8 deg	[env.py: 1082]
-05/09 02:26:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
-05/09 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:26:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:26:49 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 02:26:49 INFO: [Worker 0] Worker 0 house 1 episode 53/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:26:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:26:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:26:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:26:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:26:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:26:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:26:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.06s (batch: 3.76s, save: 9.31s)	[pipeline.py: 300]
-05/09 02:26:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.392s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:26:50 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.430[m] 90.605[deg]	[grasp_sample.py: 539]
-05/09 02:26:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:26:50 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.34s:
-  episode_total: mean=176.73s, total=176.73s, count=1, min=176734.7ms, max=176734.7ms
-  sensor_polling: mean=450.4ms, total=132.87s, count=295, min=389.2ms, max=734.7ms
-  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9305.8ms, max=9305.8ms
-  physics_step: mean=22.2ms, total=6.56s, count=295, min=13.6ms, max=57.6ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.8ms, max=3756.8ms
-  task_sampling: mean=341.4ms, total=341.4ms, count=1, min=341.4ms, max=341.4ms
-  task_specific_sample: mean=338.3ms, total=338.3ms, count=1, min=338.3ms, max=338.3ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=378.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:26:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:26:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:26:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:26:52 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048560m	[env.py: 870]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85423491  0.45153284  0.0485597 ] yaw=-189.7deg	[env.py: 1019]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94813531  0.74490043  0.0485597 ] yaw=-167.0deg	[env.py: 1019]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02413977  0.17239482  0.0485597 ] yaw=164.4deg	[env.py: 1019]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:26:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.9ms, total=112.9ms	[env.py: 1075]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.452, 0.049)	[env.py: 1079]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.7 deg	[env.py: 1082]
-05/09 02:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
-05/09 02:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:26:52 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 02:26:52 INFO: [Worker 0] Worker 0 house 1 episode 52/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:26:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:26:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:26:52 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:26:52 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:26:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:26:53 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.568[m] 86.536[deg]	[grasp_sample.py: 539]
-05/09 02:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:26:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:26:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:27:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:27:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:27:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:27:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:27:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:27:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:27:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:27:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:27:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:27:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:27:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:27:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:27:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:27:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:27:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 326 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:27:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.430s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:27:19 INFO: [Worker 0] Feasible grasp found 285 (originally 91): w/ 0.160[m] 3.276[deg]	[grasp_sample.py: 539]
-05/09 02:27:20 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 02:27:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:27:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:27:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:27:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:27:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:27:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:27:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:27:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:27:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021982m	[env.py: 870]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:27:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83311935  0.41823663 -0.02198247] yaw=183.3deg	[env.py: 1019]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09774722  0.77761375 -0.02198247] yaw=-155.6deg	[env.py: 1019]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:27:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.4ms, total=142.4ms	[env.py: 1075]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.418, -0.022)	[env.py: 1079]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.3 deg	[env.py: 1082]
-05/09 02:27:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
-05/09 02:27:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:27:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:27:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:27:22 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 02:27:22 INFO: [Worker 0] Worker 0 house 1 episode 50/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:27:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:27:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:27:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:27:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:27:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.426s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:27:24 INFO: [Worker 0] Feasible grasp found 386 (originally 192): w/ 0.559[m] 82.736[deg]	[grasp_sample.py: 539]
-05/09 02:27:24 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:27:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:27:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:27:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:27:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:27:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:27:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:27:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:27:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:28:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:28:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:28:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:28:39 INFO: [Worker 0] Worker 0 house 1 episode 49 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:29:01 INFO: [Worker 0] Saved videos eagerly for episode 64 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:29:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:29:01 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
-05/09 02:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:29:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:29:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:29:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:29:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:29:07 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:29:07 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 318 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:29:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.569s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:29:09 INFO: [Worker 0] Feasible grasp found 346 (originally 152): w/ 0.100[m] 0.159[deg]	[grasp_sample.py: 539]
-05/09 02:29:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:29:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:29:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:29:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:29:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:29:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.58s (batch: 3.91s, save: 8.67s)	[pipeline.py: 300]
-05/09 02:29:15 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=0.93s:
-  episode_total: mean=181.15s, total=181.15s, count=1, min=181153.6ms, max=181153.6ms
-  sensor_polling: mean=446.1ms, total=132.04s, count=296, min=394.0ms, max=729.4ms
-  save_trajectories: mean=8.67s, total=8.67s, count=1, min=8671.2ms, max=8671.2ms
-  physics_step: mean=21.1ms, total=6.25s, count=296, min=15.7ms, max=52.9ms
-  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3907.0ms, max=3907.0ms
-  task_sampling: mean=932.2ms, total=932.2ms, count=1, min=932.2ms, max=932.2ms
-  task_specific_sample: mean=927.9ms, total=927.9ms, count=1, min=927.9ms, max=927.9ms
-  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
-  mj_forward_sync: mean=588.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
-  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:29:16 INFO: [Worker 0] Worker 0 house 1 episode 52 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:29:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:29:17 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:29:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:29:17 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:29:17 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:29:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:29:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043353m	[env.py: 870]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:29:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15195415  1.01803983 -0.04335269] yaw=-129.7deg	[env.py: 1019]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12893875  0.81259408 -0.04335269] yaw=-153.2deg	[env.py: 1019]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:29:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=323.8ms, total=323.8ms	[env.py: 1075]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.152, 1.018, -0.043)	[env.py: 1079]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.7 deg	[env.py: 1082]
-05/09 02:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
-05/09 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:29:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:29:17 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 02:29:17 INFO: [Worker 0] Worker 0 house 1 episode 50/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:29:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:29:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:29:17 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:29:17 INFO: [Worker 0] Collision-checked 388 grasps in 0.159s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:29:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.966s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:29:18 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.535[m] 88.415[deg]	[grasp_sample.py: 539]
-05/09 02:29:18 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:29:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:29:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:29:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:29:27 INFO: [Worker 0] Worker 0 house 1 episode 53 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:29:39 INFO: [Worker 0] Saved videos eagerly for episode 64 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:29:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:29:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:29:48 INFO: [Worker 0] Saved videos eagerly for episode 65 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:29:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:29:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:29:51 INFO: [Worker 0] Worker 0 house 1 episode 50 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:29:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:29:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:29:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.32s (batch: 3.72s, save: 9.60s)	[pipeline.py: 300]
-05/09 02:29:53 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.40s:
-  episode_total: mean=181.57s, total=181.57s, count=1, min=181567.8ms, max=181567.8ms
-  sensor_polling: mean=447.0ms, total=134.11s, count=300, min=372.0ms, max=819.5ms
-  save_trajectories: mean=9.60s, total=9.60s, count=1, min=9600.3ms, max=9600.3ms
-  physics_step: mean=21.3ms, total=6.38s, count=300, min=13.7ms, max=61.3ms
-  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3715.6ms, max=3715.6ms
-  task_sampling: mean=397.6ms, total=397.6ms, count=1, min=397.6ms, max=397.6ms
-  task_specific_sample: mean=394.4ms, total=394.4ms, count=1, min=394.4ms, max=394.4ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=358.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:29:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:29:55 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:29:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:29:55 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:29:55 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:29:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:29:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044627m	[env.py: 870]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:29:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.32117063  0.9974897   0.04462728] yaw=-120.0deg	[env.py: 1019]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9809357   0.615819    0.04462728] yaw=-157.5deg	[env.py: 1019]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13030556  0.97879051  0.04462728] yaw=-149.7deg	[env.py: 1019]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:29:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.5ms, total=162.5ms	[env.py: 1075]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.321, 0.997, 0.045)	[env.py: 1079]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.0 deg	[env.py: 1082]
-05/09 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.749m	[env.py: 1086]
-05/09 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:29:55 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 02:29:55 INFO: [Worker 0] Worker 0 house 1 episode 53/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:29:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:29:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:29:55 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:29:55 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:29:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.407s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:29:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.403[m] 88.253[deg]	[grasp_sample.py: 539]
-05/09 02:29:57 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 02:29:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:29:58 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:29:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:29:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:29:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:29:58 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:29:58 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:29:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:29:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035020m	[env.py: 870]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:29:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02688581  0.9297385  -0.03502047] yaw=-157.5deg	[env.py: 1019]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07086064  1.06795622 -0.03502047] yaw=-135.6deg	[env.py: 1019]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06890524  0.31368479 -0.03502047] yaw=168.3deg	[env.py: 1019]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:29:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.0ms, total=93.0ms	[env.py: 1075]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.027, 0.930, -0.035)	[env.py: 1079]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg	[env.py: 1082]
-05/09 02:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
-05/09 02:29:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:29:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:29:58 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 02:29:58 INFO: [Worker 0] Worker 0 house 1 episode 54/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:29:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:29:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:29:58 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:29:59 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:29:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.654s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:29:59 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.651[m] 97.106[deg]	[grasp_sample.py: 539]
-05/09 02:29:59 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:30:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:30:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:30:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:30:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:30:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.65s (batch: 4.29s, save: 8.36s)	[pipeline.py: 300]
-05/09 02:30:02 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.34s:
-  episode_total: mean=192.87s, total=192.87s, count=1, min=192874.3ms, max=192874.3ms
-  sensor_polling: mean=458.3ms, total=137.49s, count=300, min=404.5ms, max=822.1ms
-  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8360.6ms, max=8360.6ms
-  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.5ms, max=69.1ms
-  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4285.3ms, max=4285.3ms
-  task_sampling: mean=338.0ms, total=338.0ms, count=1, min=338.0ms, max=338.0ms
-  task_specific_sample: mean=334.7ms, total=334.7ms, count=1, min=334.7ms, max=334.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=364.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:30:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:30:03 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:30:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:30:03 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:30:03 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:30:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:30:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038751m	[env.py: 870]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:30:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.2997055   0.95513914  0.03875094] yaw=-128.5deg	[env.py: 1019]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98975237  0.81037414  0.03875094] yaw=-154.6deg	[env.py: 1019]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:30:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.0ms, total=143.0ms	[env.py: 1075]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.300, 0.955, 0.039)	[env.py: 1079]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg	[env.py: 1082]
-05/09 02:30:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.732m	[env.py: 1086]
-05/09 02:30:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:30:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:30:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:30:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 02:30:04 INFO: [Worker 0] Worker 0 house 1 episode 54/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:30:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:30:04 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:30:04 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:30:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.422s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:30:04 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.339[m] 79.642[deg]	[grasp_sample.py: 539]
-05/09 02:30:04 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:30:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:30:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:30:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:30:11 INFO: [Worker 0] Saved videos eagerly for episode 63 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:30:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:30:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:30:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:30:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:30:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:30:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:30:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.63s (batch: 3.85s, save: 7.77s)	[pipeline.py: 300]
-05/09 02:30:23 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.76s:
-  episode_total: mean=163.45s, total=326.90s, count=2, min=145186.8ms, max=181709.3ms
-  sensor_polling: mean=454.7ms, total=260.52s, count=573, min=380.3ms, max=912.4ms
-  physics_step: mean=22.7ms, total=13.02s, count=573, min=16.5ms, max=111.1ms
-  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7771.8ms, max=7771.8ms
-  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3854.7ms, max=3854.7ms
-  task_sampling: mean=380.2ms, total=760.4ms, count=2, min=376.4ms, max=384.0ms
-  task_specific_sample: mean=376.1ms, total=752.2ms, count=2, min=372.5ms, max=379.6ms
-  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
-  mj_forward_sync: mean=426.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=14.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:30:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:30:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:30:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:30:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:30:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:30:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:30:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012591m	[env.py: 870]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:30:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96595735  0.44998312  0.01259109] yaw=-183.0deg	[env.py: 1019]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.22522017  0.88716882  0.01259109] yaw=-132.2deg	[env.py: 1019]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.31703996  1.00153102  0.01259109] yaw=-132.2deg	[env.py: 1019]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:30:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.3ms, total=167.3ms	[env.py: 1075]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.450, 0.013)	[env.py: 1079]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.0 deg	[env.py: 1082]
-05/09 02:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
-05/09 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:30:25 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 02:30:25 INFO: [Worker 0] Worker 0 house 1 episode 51/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:30:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:30:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:30:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:30:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:30:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.424s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:30:26 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.469[m] 87.642[deg]	[grasp_sample.py: 539]
-05/09 02:30:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:30:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:30:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:30:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:30:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:30:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:31:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:31:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:31:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:31:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:31:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:31:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:31:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:31:43 INFO: [Worker 0] Worker 0 house 1 episode 50 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:32:06 INFO: [Worker 0] Saved videos eagerly for episode 65 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:32:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:32:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:32:12 INFO: [Worker 0] Worker 0 house 1 episode 54 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:32:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:32:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:32:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.26s (batch: 3.84s, save: 8.42s)	[pipeline.py: 300]
-05/09 02:32:19 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.64s:
-  episode_total: mean=182.90s, total=182.90s, count=1, min=182902.9ms, max=182902.9ms
-  sensor_polling: mean=444.7ms, total=133.41s, count=300, min=372.3ms, max=865.1ms
-  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8421.2ms, max=8421.2ms
-  physics_step: mean=20.9ms, total=6.27s, count=300, min=17.1ms, max=53.3ms
-  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3840.4ms, max=3840.4ms
-  task_sampling: mean=636.8ms, total=636.8ms, count=1, min=636.8ms, max=636.8ms
-  task_specific_sample: mean=633.2ms, total=633.2ms, count=1, min=633.2ms, max=633.2ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=378.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:32:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:32:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:32:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:32:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:32:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:32:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:32:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:32:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:32:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:32:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020707m	[env.py: 870]
-05/09 02:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:32:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:32:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13904109  0.06594827 -0.02070723] yaw=155.2deg	[env.py: 1019]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02375182  0.0369074  -0.02070723] yaw=150.7deg	[env.py: 1019]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=598.3ms, total=598.4ms	[env.py: 1075]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.139, 0.066, -0.021)	[env.py: 1079]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.2 deg	[env.py: 1082]
-05/09 02:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
-05/09 02:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:32:22 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 02:32:22 INFO: [Worker 0] Worker 0 house 1 episode 51/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:32:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:32:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:32:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:32:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.155s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:32:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.898s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:32:23 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.399[m] 79.666[deg]	[grasp_sample.py: 539]
-05/09 02:32:23 INFO: [Worker 0] Worker 0 house 1 episode 54 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:32:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:32:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:32:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:32:34 INFO: [Worker 0] Saved videos eagerly for episode 66 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:32:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:32:34 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
-05/09 02:32:44 INFO: [Worker 0] Saved videos eagerly for episode 65 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:32:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:32:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:32:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:32:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:32:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.72s (batch: 3.68s, save: 7.04s)	[pipeline.py: 300]
-05/09 02:32:45 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.40s:
-  episode_total: mean=161.89s, total=161.89s, count=1, min=161890.1ms, max=161890.1ms
-  sensor_polling: mean=452.5ms, total=119.01s, count=263, min=397.8ms, max=846.8ms
-  save_trajectories: mean=7.04s, total=7.04s, count=1, min=7036.2ms, max=7036.2ms
-  physics_step: mean=21.4ms, total=5.64s, count=263, min=14.3ms, max=73.6ms
-  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3684.5ms, max=3684.5ms
-  task_sampling: mean=395.5ms, total=395.5ms, count=1, min=395.5ms, max=395.5ms
-  task_specific_sample: mean=391.9ms, total=391.9ms, count=1, min=391.9ms, max=391.9ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=369.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:32:46 INFO: [Worker 0] Worker 0 house 1 episode 51 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:32:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:32:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:32:47 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:32:47 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:32:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024910m	[env.py: 870]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88559035  0.03785933  0.02491015] yaw=161.9deg	[env.py: 1019]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84244955  0.64984367  0.02491015] yaw=-170.1deg	[env.py: 1019]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06692253  0.07248713  0.02491015] yaw=149.1deg	[env.py: 1019]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.0ms, total=76.0ms	[env.py: 1075]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 0.038, 0.025)	[env.py: 1079]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg	[env.py: 1082]
-05/09 02:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
-05/09 02:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:32:47 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:32:47 INFO: [Worker 0] Worker 0 house 1 episode 55/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:32:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:32:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:32:47 INFO: [Worker 0] Collision-checked 388 grasps in 0.080s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:32:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.336s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:32:48 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.582[m] 79.070[deg]	[grasp_sample.py: 539]
-05/09 02:32:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:32:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:32:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:32:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:32:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:32:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.93s (batch: 3.81s, save: 9.12s)	[pipeline.py: 300]
-05/09 02:32:58 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.77s:
-  episode_total: mean=90.93s, total=181.85s, count=2, min=1849.9ms, max=180003.4ms
-  sensor_polling: mean=449.3ms, total=134.80s, count=300, min=385.5ms, max=859.8ms
-  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9120.2ms, max=9120.2ms
-  physics_step: mean=21.2ms, total=6.36s, count=300, min=14.2ms, max=67.9ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3811.6ms, max=3811.6ms
-  task_sampling: mean=385.4ms, total=770.9ms, count=2, min=351.5ms, max=419.3ms
-  task_specific_sample: mean=381.9ms, total=763.8ms, count=2, min=347.6ms, max=416.2ms
-  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.8ms, max=2.0ms
-  mj_forward_sync: mean=370.6us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
-  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:33:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:33:00 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:33:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:33:00 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:33:00 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:33:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:33:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023162m	[env.py: 870]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:33:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11294141  0.98140104  0.02316179] yaw=-131.3deg	[env.py: 1019]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09967617  0.30890801  0.02316179] yaw=175.7deg	[env.py: 1019]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96384113  0.39128727  0.02316179] yaw=176.1deg	[env.py: 1019]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:33:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.5ms, total=109.5ms	[env.py: 1075]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.113, 0.981, 0.023)	[env.py: 1079]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.3 deg	[env.py: 1082]
-05/09 02:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
-05/09 02:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:33:00 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 02:33:00 INFO: [Worker 0] Worker 0 house 1 episode 55/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:33:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:33:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:33:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:33:00 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:33:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:33:01 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.542[m] 96.402[deg]	[grasp_sample.py: 539]
-05/09 02:33:01 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:33:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:33:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:33:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:33:08 INFO: [Worker 0] Saved videos eagerly for episode 64 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:33:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:33:08 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/09 02:33:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:33:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:33:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:33:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:33:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.62s (batch: 3.97s, save: 7.64s)	[pipeline.py: 300]
-05/09 02:33:20 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.44s:
-  episode_total: mean=175.81s, total=175.81s, count=1, min=175809.0ms, max=175809.0ms
-  sensor_polling: mean=452.9ms, total=131.34s, count=290, min=379.5ms, max=1016.6ms
-  save_trajectories: mean=7.64s, total=7.64s, count=1, min=7641.5ms, max=7641.5ms
-  physics_step: mean=21.5ms, total=6.23s, count=290, min=14.1ms, max=75.5ms
-  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.8ms, max=3973.8ms
-  task_sampling: mean=443.3ms, total=443.3ms, count=1, min=443.3ms, max=443.3ms
-  task_specific_sample: mean=439.6ms, total=439.6ms, count=1, min=439.6ms, max=439.6ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=380.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:33:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:33:22 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:33:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:33:22 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:33:22 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:33:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:33:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043856m	[env.py: 870]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:33:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07714245  0.60106285 -0.04385608] yaw=-168.0deg	[env.py: 1019]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09400518  0.69063404 -0.04385608] yaw=-155.4deg	[env.py: 1019]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87010702  0.08885962 -0.04385608] yaw=162.2deg	[env.py: 1019]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:33:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.7ms	[env.py: 1075]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 0.601, -0.044)	[env.py: 1079]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.0 deg	[env.py: 1082]
-05/09 02:33:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
-05/09 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:33:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:33:22 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 02:33:22 INFO: [Worker 0] Worker 0 house 1 episode 52/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:33:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:33:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:33:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:33:23 INFO: [Worker 0] Collision-checked 388 grasps in 0.112s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:33:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:33:23 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.406[m] 87.903[deg]	[grasp_sample.py: 539]
-05/09 02:33:23 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:33:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:33:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:33:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:33:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:33:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:33:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:34:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:34:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:34:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:34:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:34:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:34:37 INFO: [Worker 0] Worker 0 house 1 episode 51 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:34:59 INFO: [Worker 0] Saved videos eagerly for episode 66 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:34:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:34:59 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
-05/09 02:35:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:35:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:35:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.07s (batch: 3.75s, save: 7.32s)	[pipeline.py: 300]
-05/09 02:35:10 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.89s:
-  episode_total: mean=169.11s, total=169.11s, count=1, min=169111.1ms, max=169111.1ms
-  sensor_polling: mean=454.3ms, total=124.94s, count=275, min=398.4ms, max=954.0ms
-  save_trajectories: mean=7.32s, total=7.32s, count=1, min=7320.2ms, max=7320.2ms
-  physics_step: mean=21.2ms, total=5.83s, count=275, min=17.2ms, max=51.9ms
-  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3752.7ms, max=3752.7ms
-  task_sampling: mean=887.9ms, total=887.9ms, count=1, min=887.9ms, max=887.9ms
-  task_specific_sample: mean=884.0ms, total=884.0ms, count=1, min=884.0ms, max=884.0ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=440.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:35:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:35:12 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:35:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:35:12 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:35:12 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:35:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:35:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025246m	[env.py: 870]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:35:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06976403  0.88997801  0.02524583] yaw=-139.0deg	[env.py: 1019]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98249669  0.53967604  0.02524583] yaw=-181.0deg	[env.py: 1019]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.06038089  0.33040201  0.02524583] yaw=179.0deg	[env.py: 1019]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:35:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.2ms, total=210.2ms	[env.py: 1075]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.890, 0.025)	[env.py: 1079]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.0 deg	[env.py: 1082]
-05/09 02:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
-05/09 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:35:12 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 02:35:12 INFO: [Worker 0] Worker 0 house 1 episode 52/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:35:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:35:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:35:13 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:35:13 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:35:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.698s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:35:13 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.445[m] 84.060[deg]	[grasp_sample.py: 539]
-05/09 02:35:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:35:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:35:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:35:14 INFO: [Worker 0] Worker 0 house 1 episode 55 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:35:25 INFO: [Worker 0] Worker 0 house 1 episode 55 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:35:38 INFO: [Worker 0] Saved videos eagerly for episode 67 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:35:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:35:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:35:40 INFO: [Worker 0] Worker 0 house 1 episode 52 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:35:47 INFO: [Worker 0] Saved videos eagerly for episode 66 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:35:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:35:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:35:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:35:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:35:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.11s (batch: 3.95s, save: 8.17s)	[pipeline.py: 300]
-05/09 02:35:50 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.32s:
-  episode_total: mean=183.73s, total=183.73s, count=1, min=183727.7ms, max=183727.7ms
-  sensor_polling: mean=452.8ms, total=135.85s, count=300, min=388.5ms, max=907.0ms
-  save_trajectories: mean=8.17s, total=8.17s, count=1, min=8168.9ms, max=8168.9ms
-  physics_step: mean=21.5ms, total=6.44s, count=300, min=15.9ms, max=65.1ms
-  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3945.1ms, max=3945.1ms
-  task_sampling: mean=323.2ms, total=323.2ms, count=1, min=323.2ms, max=323.2ms
-  task_specific_sample: mean=319.0ms, total=319.0ms, count=1, min=319.0ms, max=319.0ms
-  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
-  mj_forward_sync: mean=511.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:35:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:35:52 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:35:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:35:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:35:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:35:52 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:35:52 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:35:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:35:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035802m	[env.py: 870]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:35:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92185442  0.30318338  0.0358019 ] yaw=165.6deg	[env.py: 1019]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93437527  0.59184133  0.0358019 ] yaw=-158.2deg	[env.py: 1019]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8590185   0.35724772  0.0358019 ] yaw=182.5deg	[env.py: 1019]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:35:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.8ms, total=89.8ms	[env.py: 1075]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.303, 0.036)	[env.py: 1079]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
-05/09 02:35:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
-05/09 02:35:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:35:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:35:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:35:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 02:35:52 INFO: [Worker 0] Worker 0 house 1 episode 56/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:35:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:35:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:35:52 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:35:52 INFO: [Worker 0] Collision-checked 388 grasps in 0.063s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:35:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:35:53 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.508[m] 85.699[deg]	[grasp_sample.py: 539]
-05/09 02:35:53 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:35:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:35:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:35:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:36:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:36:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:36:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.11s (batch: 3.90s, save: 9.20s)	[pipeline.py: 300]
-05/09 02:36:01 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.40s:
-  episode_total: mean=181.08s, total=181.08s, count=1, min=181083.2ms, max=181083.2ms
-  sensor_polling: mean=447.9ms, total=134.36s, count=300, min=388.7ms, max=866.6ms
-  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9204.3ms, max=9204.3ms
-  physics_step: mean=21.5ms, total=6.45s, count=300, min=13.8ms, max=57.6ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3901.7ms, max=3901.7ms
-  task_sampling: mean=396.7ms, total=396.7ms, count=1, min=396.7ms, max=396.7ms
-  task_specific_sample: mean=393.3ms, total=393.3ms, count=1, min=393.3ms, max=393.3ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=380.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:36:02 INFO: [Worker 0] Saved videos eagerly for episode 65 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:36:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:36:02 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
-05/09 02:36:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:36:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:36:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:36:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:36:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:36:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:36:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:36:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:36:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020048m	[env.py: 870]
-05/09 02:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:36:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02485602  0.80499054  0.0200483 ] yaw=-158.3deg	[env.py: 1019]
-05/09 02:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99662098  0.65450402  0.0200483 ] yaw=-153.8deg	[env.py: 1019]
-05/09 02:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93085218  0.78685625  0.0200483 ] yaw=-166.4deg	[env.py: 1019]
-05/09 02:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.2ms, total=108.2ms	[env.py: 1075]
-05/09 02:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.025, 0.805, 0.020)	[env.py: 1079]
-05/09 02:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg	[env.py: 1082]
-05/09 02:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
-05/09 02:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:36:03 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 02:36:03 INFO: [Worker 0] Worker 0 house 1 episode 56/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:36:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:36:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:36:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:36:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.060s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:36:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:36:03 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.488[m] 87.189[deg]	[grasp_sample.py: 539]
-05/09 02:36:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:36:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:36:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:36:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:36:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:36:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:36:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:36:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.89s (batch: 3.92s, save: 6.97s)	[pipeline.py: 300]
-05/09 02:36:14 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.43s:
-  episode_total: mean=171.62s, total=171.62s, count=1, min=171619.6ms, max=171619.6ms
-  sensor_polling: mean=457.4ms, total=127.62s, count=279, min=382.1ms, max=903.6ms
-  save_trajectories: mean=6.97s, total=6.97s, count=1, min=6969.2ms, max=6969.2ms
-  physics_step: mean=24.4ms, total=6.82s, count=279, min=13.3ms, max=59.7ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3918.4ms, max=3918.4ms
-  task_sampling: mean=432.8ms, total=432.8ms, count=1, min=432.8ms, max=432.8ms
-  task_specific_sample: mean=429.1ms, total=429.1ms, count=1, min=429.1ms, max=429.1ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=361.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:36:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:36:15 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:36:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:36:15 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:36:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024450m	[env.py: 870]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:36:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87943652  0.26741065 -0.02445015] yaw=159.3deg	[env.py: 1019]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95296271  0.52723633 -0.02445015] yaw=-171.1deg	[env.py: 1019]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.9ms, total=159.9ms	[env.py: 1075]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.267, -0.024)	[env.py: 1079]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
-05/09 02:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
-05/09 02:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:36:15 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 02:36:15 INFO: [Worker 0] Worker 0 house 1 episode 53/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:36:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:36:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:36:16 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:36:16 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:36:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.297s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:36:17 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.535[m] 84.099[deg]	[grasp_sample.py: 539]
-05/09 02:36:17 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:36:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:36:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:36:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:36:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:36:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:36:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:36:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:37:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:37:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:37:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:37:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:37:37 INFO: [Worker 0] Worker 0 house 1 episode 52 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:37:55 INFO: [Worker 0] Saved videos eagerly for episode 67 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:37:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:37:55 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/09 02:38:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:38:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:38:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.69s (batch: 3.74s, save: 9.94s)	[pipeline.py: 300]
-05/09 02:38:09 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.50s:
-  episode_total: mean=177.52s, total=177.52s, count=1, min=177522.5ms, max=177522.5ms
-  sensor_polling: mean=440.2ms, total=125.91s, count=286, min=375.7ms, max=734.1ms
-  save_trajectories: mean=9.94s, total=9.94s, count=1, min=9943.2ms, max=9943.2ms
-  physics_step: mean=21.9ms, total=6.25s, count=286, min=13.8ms, max=63.2ms
-  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3741.9ms, max=3741.9ms
-  task_sampling: mean=498.6ms, total=498.6ms, count=1, min=498.6ms, max=498.6ms
-  task_specific_sample: mean=495.1ms, total=495.1ms, count=1, min=495.1ms, max=495.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=382.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:38:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:38:11 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:38:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:38:11 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:38:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:38:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:38:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025060m	[env.py: 870]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:38:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1340453   0.90727402 -0.02505966] yaw=-137.0deg	[env.py: 1019]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8940849   0.57146957 -0.02505966] yaw=-178.8deg	[env.py: 1019]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.13878822  0.68592092 -0.02505966] yaw=-148.4deg	[env.py: 1019]
-05/09 02:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=712.2ms, total=712.2ms	[env.py: 1075]
-05/09 02:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.134, 0.907, -0.025)	[env.py: 1079]
-05/09 02:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.0 deg	[env.py: 1082]
-05/09 02:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
-05/09 02:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:38:12 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:38:12 INFO: [Worker 0] Worker 0 house 1 episode 53/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:38:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:38:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.075s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:38:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:38:13 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.439[m] 77.355[deg]	[grasp_sample.py: 539]
-05/09 02:38:13 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:38:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:38:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:38:19 INFO: [Worker 0] Worker 0 house 1 episode 56 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:38:24 INFO: [Worker 0] Worker 0 house 1 episode 56 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:38:40 INFO: [Worker 0] Worker 0 house 1 episode 53 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:38:41 INFO: [Worker 0] Saved videos eagerly for episode 68 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:38:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:38:41 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
-05/09 02:38:47 INFO: [Worker 0] Saved videos eagerly for episode 67 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:38:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:38:47 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/09 02:38:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:38:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:38:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:38:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.62s (batch: 4.44s, save: 8.18s)	[pipeline.py: 300]
-05/09 02:38:54 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.35s:
-  episode_total: mean=182.28s, total=182.28s, count=1, min=182277.8ms, max=182277.8ms
-  sensor_polling: mean=446.1ms, total=132.48s, count=297, min=391.0ms, max=686.7ms
-  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8179.9ms, max=8179.9ms
-  physics_step: mean=21.2ms, total=6.30s, count=297, min=13.7ms, max=50.0ms
-  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4436.3ms, max=4436.3ms
-  task_sampling: mean=351.7ms, total=351.7ms, count=1, min=351.7ms, max=351.7ms
-  task_specific_sample: mean=348.1ms, total=348.1ms, count=1, min=348.1ms, max=348.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=357.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:38:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:38:56 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:38:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:38:56 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:38:56 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:38:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:38:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027053m	[env.py: 870]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:38:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02176962  0.65297721  0.02705259] yaw=-164.4deg	[env.py: 1019]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.3260216   0.94696472  0.02705259] yaw=-122.6deg	[env.py: 1019]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07432926  0.61573514  0.02705259] yaw=-166.1deg	[env.py: 1019]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.3ms, total=154.3ms	[env.py: 1075]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.653, 0.027)	[env.py: 1079]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg	[env.py: 1082]
-05/09 02:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
-05/09 02:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:38:56 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 02:38:56 INFO: [Worker 0] Worker 0 house 1 episode 57/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:38:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:38:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:38:56 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:38:56 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:38:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.425s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:38:57 INFO: [Worker 0] Feasible grasp found 109 (originally 109): w/ 0.416[m] 86.357[deg]	[grasp_sample.py: 539]
-05/09 02:38:57 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:38:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:38:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:38:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:38:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:38:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.71s (batch: 3.62s, save: 8.09s)	[pipeline.py: 300]
-05/09 02:39:00 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.40s:
-  episode_total: mean=177.40s, total=177.40s, count=1, min=177396.9ms, max=177396.9ms
-  sensor_polling: mean=445.2ms, total=130.89s, count=294, min=385.4ms, max=707.5ms
-  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8085.8ms, max=8085.8ms
-  physics_step: mean=22.7ms, total=6.69s, count=294, min=13.8ms, max=131.7ms
-  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3623.7ms, max=3623.7ms
-  task_sampling: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
-  task_specific_sample: mean=396.7ms, total=396.7ms, count=1, min=396.7ms, max=396.7ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=360.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:39:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:39:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:39:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:39:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:39:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:39:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:39:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025190m	[env.py: 870]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:39:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16708733  0.90476699  0.02518978] yaw=-138.8deg	[env.py: 1019]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03802402  0.90188669  0.02518978] yaw=-140.5deg	[env.py: 1019]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0429982   0.26145267  0.02518978] yaw=175.9deg	[env.py: 1019]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:39:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.9ms, total=74.9ms	[env.py: 1075]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.167, 0.905, 0.025)	[env.py: 1079]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.8 deg	[env.py: 1082]
-05/09 02:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
-05/09 02:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:39:02 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:39:02 INFO: [Worker 0] Worker 0 house 1 episode 57/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:39:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:39:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:39:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:39:02 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:39:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:39:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:39:02 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.374[m] 83.111[deg]	[grasp_sample.py: 539]
-05/09 02:39:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:39:03 INFO: [Worker 0] Saved videos eagerly for episode 66 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:39:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:39:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:39:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:39:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:39:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:39:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:39:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:39:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.82s (batch: 3.92s, save: 10.90s)	[pipeline.py: 300]
-05/09 02:39:18 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.41s:
-  episode_total: mean=183.22s, total=183.22s, count=1, min=183224.9ms, max=183224.9ms
-  sensor_polling: mean=441.9ms, total=132.58s, count=300, min=380.4ms, max=740.0ms
-  save_trajectories: mean=10.90s, total=10.90s, count=1, min=10897.5ms, max=10897.5ms
-  physics_step: mean=22.5ms, total=6.74s, count=300, min=13.4ms, max=121.8ms
-  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.5ms, max=3921.5ms
-  task_sampling: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
-  task_specific_sample: mean=409.0ms, total=409.0ms, count=1, min=409.0ms, max=409.0ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=370.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:39:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:39:20 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:39:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:39:20 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:39:20 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:39:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:39:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006579m	[env.py: 870]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:39:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83958989  0.57025313 -0.00657889] yaw=-181.3deg	[env.py: 1019]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82963249  0.26666019 -0.00657889] yaw=172.6deg	[env.py: 1019]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.31417003  0.9954695  -0.00657889] yaw=-127.5deg	[env.py: 1019]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:39:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.3ms	[env.py: 1075]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.570, -0.007)	[env.py: 1079]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.3 deg	[env.py: 1082]
-05/09 02:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
-05/09 02:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:39:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 02:39:20 INFO: [Worker 0] Worker 0 house 1 episode 54/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:39:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:39:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:39:20 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:39:20 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:39:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.079s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:39:21 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.623[m] 93.902[deg]	[grasp_sample.py: 539]
-05/09 02:39:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:39:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:39:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:39:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:39:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:39:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:39:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:39:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:39:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:40:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:40:26 INFO: [Worker 0] Worker 0 house 1 episode 53 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:40:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:40:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:40:49 INFO: [Worker 0] Saved videos eagerly for episode 68 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:40:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:40:49 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/09 02:41:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:41:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:41:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.93s (batch: 3.50s, save: 7.43s)	[pipeline.py: 300]
-05/09 02:41:00 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=1.04s:
-  episode_total: mean=169.38s, total=169.38s, count=1, min=169384.4ms, max=169384.4ms
-  sensor_polling: mean=440.0ms, total=124.52s, count=283, min=379.5ms, max=711.0ms
-  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7426.2ms, max=7426.2ms
-  physics_step: mean=21.3ms, total=6.02s, count=283, min=14.9ms, max=50.7ms
-  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3500.0ms, max=3500.0ms
-  task_sampling: mean=1.04s, total=1.04s, count=1, min=1043.7ms, max=1043.7ms
-  task_specific_sample: mean=1.04s, total=1.04s, count=1, min=1039.8ms, max=1039.8ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=513.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:41:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:41:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:41:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:41:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:41:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:41:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:41:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033690m	[env.py: 870]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:41:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05197916  0.17637518  0.03369014] yaw=168.7deg	[env.py: 1019]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.94350442  0.01377603  0.03369014] yaw=150.4deg	[env.py: 1019]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97758001  0.74335249  0.03369014] yaw=-148.4deg	[env.py: 1019]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:41:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.4ms	[env.py: 1075]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.052, 0.176, 0.034)	[env.py: 1079]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.7 deg	[env.py: 1082]
-05/09 02:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
-05/09 02:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:41:02 INFO: [Worker 0] Sampled task 'Open the white goods'	[task_sampler.py: 1136]
-05/09 02:41:02 INFO: [Worker 0] Worker 0 house 1 episode 54/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:41:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:41:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:41:03 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:41:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.059s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:41:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:41:03 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.404[m] 84.614[deg]	[grasp_sample.py: 539]
-05/09 02:41:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:41:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:41:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:41:08 INFO: [Worker 0] Worker 0 house 1 episode 57 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:41:12 INFO: [Worker 0] Worker 0 house 1 episode 57 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:41:31 INFO: [Worker 0] Saved videos eagerly for episode 69 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:41:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:41:31 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
-05/09 02:41:34 INFO: [Worker 0] Saved videos eagerly for episode 68 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:41:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:41:34 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
-05/09 02:41:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:41:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:41:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:41:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.17s (batch: 3.90s, save: 7.26s)	[pipeline.py: 300]
-05/09 02:41:42 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.44s:
-  episode_total: mean=166.66s, total=166.66s, count=1, min=166664.5ms, max=166664.5ms
-  sensor_polling: mean=439.3ms, total=122.55s, count=279, min=390.8ms, max=716.3ms
-  save_trajectories: mean=7.26s, total=7.26s, count=1, min=7263.4ms, max=7263.4ms
-  physics_step: mean=21.9ms, total=6.10s, count=279, min=16.8ms, max=55.1ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3903.8ms, max=3903.8ms
-  task_sampling: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms
-  task_specific_sample: mean=432.7ms, total=432.7ms, count=1, min=432.7ms, max=432.7ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:41:44 INFO: [Worker 0] Worker 0 house 1 episode 54 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:41:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:41:44 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:41:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:41:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:41:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:41:44 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:41:44 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:41:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:41:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034219m	[env.py: 870]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:41:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00065041  0.98009811  0.03421854] yaw=-137.6deg	[env.py: 1019]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96594561  0.74489973  0.03421854] yaw=-155.6deg	[env.py: 1019]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.12714889  0.89587518  0.03421854] yaw=-154.9deg	[env.py: 1019]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:41:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.0ms, total=95.0ms	[env.py: 1075]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.980, 0.034)	[env.py: 1079]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.6 deg	[env.py: 1082]
-05/09 02:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
-05/09 02:41:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:41:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:41:44 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 02:41:44 INFO: [Worker 0] Worker 0 house 1 episode 58/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:41:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:41:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:41:44 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:41:44 INFO: [Worker 0] Collision-checked 388 grasps in 0.083s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:41:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:41:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:41:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.84s (batch: 3.61s, save: 7.24s)	[pipeline.py: 300]
-05/09 02:41:45 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.35s:
-  episode_total: mean=163.53s, total=163.53s, count=1, min=163534.3ms, max=163534.3ms
-  sensor_polling: mean=443.3ms, total=120.57s, count=272, min=397.2ms, max=682.6ms
-  save_trajectories: mean=7.24s, total=7.24s, count=1, min=7237.1ms, max=7237.1ms
-  physics_step: mean=21.4ms, total=5.83s, count=272, min=13.5ms, max=59.1ms
-  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3606.9ms, max=3606.9ms
-  task_sampling: mean=350.7ms, total=350.7ms, count=1, min=350.7ms, max=350.7ms
-  task_specific_sample: mean=347.1ms, total=347.1ms, count=1, min=347.1ms, max=347.1ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=420.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:41:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:41:47 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:41:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:41:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:41:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:41:47 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:41:47 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:41:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:41:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016977m	[env.py: 870]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:41:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01424622  0.49476078  0.01697702] yaw=-174.5deg	[env.py: 1019]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.19634789  0.82166135  0.01697702] yaw=-137.1deg	[env.py: 1019]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:41:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=369.2ms, total=369.2ms	[env.py: 1075]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.495, 0.017)	[env.py: 1079]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.5 deg	[env.py: 1082]
-05/09 02:41:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
-05/09 02:41:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:41:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:41:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:41:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.928s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:41:47 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.597[m] 82.036[deg]	[grasp_sample.py: 539]
-05/09 02:41:47 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:41:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
-05/09 02:41:48 INFO: [Worker 0] Worker 0 house 1 episode 58/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:41:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:41:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:41:48 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:41:48 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:41:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:41:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:41:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.019s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:41:49 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.477[m] 97.240[deg]	[grasp_sample.py: 539]
-05/09 02:41:49 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:41:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:41:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:41:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:41:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:42:09 INFO: [Worker 0] Saved videos eagerly for episode 67 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:42:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:42:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:42:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:42:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:42:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.44s (batch: 3.93s, save: 8.51s)	[pipeline.py: 300]
-05/09 02:42:23 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.43s:
-  episode_total: mean=182.73s, total=182.73s, count=1, min=182729.9ms, max=182729.9ms
-  sensor_polling: mean=441.9ms, total=132.58s, count=300, min=374.7ms, max=880.4ms
-  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8514.6ms, max=8514.6ms
-  physics_step: mean=22.4ms, total=6.71s, count=300, min=13.2ms, max=59.5ms
-  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3927.5ms, max=3927.5ms
-  task_sampling: mean=427.9ms, total=427.9ms, count=1, min=427.9ms, max=427.9ms
-  task_specific_sample: mean=424.3ms, total=424.3ms, count=1, min=424.3ms, max=424.3ms
-  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
-  mj_forward_sync: mean=365.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:42:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:42:25 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:42:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:42:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:42:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:42:25 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:42:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:42:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:42:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023240m	[env.py: 870]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:42:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03729175  0.50898415 -0.02323999] yaw=-180.3deg	[env.py: 1019]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:42:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.8ms, total=246.8ms	[env.py: 1075]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.037, 0.509, -0.023)	[env.py: 1079]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.3 deg	[env.py: 1082]
-05/09 02:42:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
-05/09 02:42:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:42:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:42:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:42:25 INFO: [Worker 0] Sampled task 'Open the appliance'	[task_sampler.py: 1136]
-05/09 02:42:25 INFO: [Worker 0] Worker 0 house 1 episode 55/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:42:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:42:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:42:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:42:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:42:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.662s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:42:26 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.476[m] 93.882[deg]	[grasp_sample.py: 539]
-05/09 02:42:26 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:42:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:42:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:42:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:42:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:42:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:42:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:42:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:42:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:43:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:43:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:43:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:43:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:43:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:43:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:43:22 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:43:22 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 318 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:43:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.914s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:43:23 INFO: [Worker 0] Feasible grasp found 347 (originally 153): w/ 0.029[m] 4.430[deg]	[grasp_sample.py: 539]
-05/09 02:43:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:43:24 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 02:43:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:43:26 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:43:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:43:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:43:26 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:43:26 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:43:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:43:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043525m	[env.py: 870]
-05/09 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:43:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:43:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05070288  0.35634069 -0.0435253 ] yaw=173.3deg	[env.py: 1019]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06538021  0.71301403 -0.0435253 ] yaw=-150.5deg	[env.py: 1019]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15503578  1.12741332 -0.0435253 ] yaw=-121.8deg	[env.py: 1019]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:43:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.6ms, total=167.6ms	[env.py: 1075]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.051, 0.356, -0.044)	[env.py: 1079]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.3 deg	[env.py: 1082]
-05/09 02:43:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
-05/09 02:43:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:43:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:43:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:43:27 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 02:43:27 INFO: [Worker 0] Worker 0 house 1 episode 55/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:43:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:43:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:43:27 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:43:27 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:43:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.421s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:43:27 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.453[m] 94.055[deg]	[grasp_sample.py: 539]
-05/09 02:43:27 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:43:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:43:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:44:12 INFO: [Worker 0] Worker 0 house 1 episode 58 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:44:12 INFO: [Worker 0] Worker 0 house 1 episode 58 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:44:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:44:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:44:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:44:35 INFO: [Worker 0] Saved videos eagerly for episode 69 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:44:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:44:35 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
-05/09 02:44:36 INFO: [Worker 0] Saved videos eagerly for episode 70 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:44:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:44:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:44:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:44:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:44:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 4.17s, save: 7.81s)	[pipeline.py: 300]
-05/09 02:44:47 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.64s:
-  episode_total: mean=180.37s, total=180.37s, count=1, min=180369.4ms, max=180369.4ms
-  sensor_polling: mean=452.9ms, total=133.16s, count=294, min=395.9ms, max=787.7ms
-  save_trajectories: mean=7.81s, total=7.81s, count=1, min=7808.7ms, max=7808.7ms
-  physics_step: mean=22.3ms, total=6.56s, count=294, min=16.9ms, max=45.0ms
-  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4165.3ms, max=4165.3ms
-  task_sampling: mean=644.9ms, total=644.9ms, count=1, min=644.9ms, max=644.9ms
-  task_specific_sample: mean=641.1ms, total=641.1ms, count=1, min=641.1ms, max=641.1ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=447.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:44:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:44:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:44:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.50s (batch: 3.80s, save: 7.70s)	[pipeline.py: 300]
-05/09 02:44:48 INFO: [Worker 0] Worker 0 house 1 episode 55 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:44:48 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.35s:
-  episode_total: mean=183.97s, total=183.97s, count=1, min=183971.0ms, max=183971.0ms
-  sensor_polling: mean=447.9ms, total=134.38s, count=300, min=390.9ms, max=909.0ms
-  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7700.8ms, max=7700.8ms
-  physics_step: mean=21.5ms, total=6.46s, count=300, min=16.9ms, max=67.0ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3803.2ms, max=3803.2ms
-  task_sampling: mean=354.6ms, total=354.6ms, count=1, min=354.6ms, max=354.6ms
-  task_specific_sample: mean=351.2ms, total=351.2ms, count=1, min=351.2ms, max=351.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=393.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:44:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:44:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:44:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:44:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:44:49 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:44:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:44:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047156m	[env.py: 870]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:44:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96232468  0.78223812 -0.0471563 ] yaw=-151.9deg	[env.py: 1019]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05868353  0.20665794 -0.0471563 ] yaw=169.2deg	[env.py: 1019]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0112852   0.06251334 -0.0471563 ] yaw=150.2deg	[env.py: 1019]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:44:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.5ms, total=129.5ms	[env.py: 1075]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.782, -0.047)	[env.py: 1079]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg	[env.py: 1082]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:44:49 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:44:49 INFO: [Worker 0] Worker 0 house 1 episode 59/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:44:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:44:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:44:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:44:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.087s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:44:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:44:49 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:44:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:44:49 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:44:49 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:44:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:44:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041237m	[env.py: 870]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:44:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13248707  1.1358304   0.04123741] yaw=-124.5deg	[env.py: 1019]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92249839  0.2406478   0.04123741] yaw=163.2deg	[env.py: 1019]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01195569  0.3036856   0.04123741] yaw=180.8deg	[env.py: 1019]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:44:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=236.9ms, total=237.0ms	[env.py: 1075]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.136, 0.041)	[env.py: 1079]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.5 deg	[env.py: 1082]
-05/09 02:44:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
-05/09 02:44:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:44:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:44:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:44:50 INFO: [Worker 0] Sampled task 'Open the white fridge'	[task_sampler.py: 1136]
-05/09 02:44:50 INFO: [Worker 0] Worker 0 house 1 episode 59/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:44:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:44:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:44:50 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:44:50 INFO: [Worker 0] Collision-checked 388 grasps in 0.069s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:44:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.586s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:44:51 INFO: [Worker 0] Feasible grasp found 247 (originally 53): w/ 0.544[m] 87.983[deg]	[grasp_sample.py: 539]
-05/09 02:44:51 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:44:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:44:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:44:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.470s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:44:52 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.664[m] 98.169[deg]	[grasp_sample.py: 539]
-05/09 02:44:52 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:44:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:44:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:45:14 INFO: [Worker 0] Saved videos eagerly for episode 68 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:45:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:45:14 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
-05/09 02:45:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:45:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:45:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.61s (batch: 3.81s, save: 7.81s)	[pipeline.py: 300]
-05/09 02:45:26 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.52s:
-  episode_total: mean=181.39s, total=181.39s, count=1, min=181392.3ms, max=181392.3ms
-  sensor_polling: mean=450.6ms, total=132.02s, count=293, min=383.0ms, max=868.8ms
-  save_trajectories: mean=7.81s, total=7.81s, count=1, min=7808.3ms, max=7808.3ms
-  physics_step: mean=21.5ms, total=6.29s, count=293, min=13.4ms, max=54.8ms
-  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3806.5ms, max=3806.5ms
-  task_sampling: mean=517.6ms, total=517.6ms, count=1, min=517.6ms, max=517.6ms
-  task_specific_sample: mean=513.7ms, total=513.7ms, count=1, min=513.7ms, max=513.7ms
-  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  mj_forward_sync: mean=439.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:45:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:45:27 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:45:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:45:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:45:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:45:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:45:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:45:27 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:45:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:45:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:45:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031326m	[env.py: 870]
-05/09 02:45:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:45:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06773867  0.66968474  0.03132566] yaw=-154.0deg	[env.py: 1019]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14198342  0.99392696  0.03132566] yaw=-135.4deg	[env.py: 1019]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90013367  0.4016553   0.03132566] yaw=172.4deg	[env.py: 1019]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:45:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.2ms, total=118.2ms	[env.py: 1075]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 0.670, 0.031)	[env.py: 1079]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.0 deg	[env.py: 1082]
-05/09 02:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
-05/09 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:45:28 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles'	[task_sampler.py: 1136]
-05/09 02:45:28 INFO: [Worker 0] Worker 0 house 1 episode 56/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:45:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:45:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:45:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:45:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:45:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:45:28 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.440[m] 97.486[deg]	[grasp_sample.py: 539]
-05/09 02:45:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:45:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:45:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:45:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:45:49 INFO: [Worker 0] Worker 0 house 1 episode 55 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:45:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:45:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:45:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:46:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:46:07 INFO: [Worker 0] Saved videos eagerly for episode 69 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:46:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:46:07 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
-05/09 02:46:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:46:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:46:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:46:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:46:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.27s (batch: 3.90s, save: 7.37s)	[pipeline.py: 300]
-05/09 02:46:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:46:19 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.82s:
-  episode_total: mean=157.58s, total=315.16s, count=2, min=142362.4ms, max=172797.7ms
-  sensor_polling: mean=449.8ms, total=249.62s, count=555, min=382.4ms, max=906.7ms
-  physics_step: mean=23.3ms, total=12.91s, count=555, min=16.3ms, max=64.8ms
-  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7365.4ms, max=7365.4ms
-  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3901.2ms, max=3901.2ms
-  task_sampling: mean=410.2ms, total=820.5ms, count=2, min=404.8ms, max=415.6ms
-  task_specific_sample: mean=407.0ms, total=814.1ms, count=2, min=401.7ms, max=412.4ms
-  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.5ms, max=2.0ms
-  mj_forward_sync: mean=434.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
-  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:46:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:46:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:46:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:46:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:46:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:46:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:46:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026163m	[env.py: 870]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:46:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12482381  0.19247208  0.02616318] yaw=165.1deg	[env.py: 1019]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95534965  0.56919649  0.02616318] yaw=-160.4deg	[env.py: 1019]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.07937168  0.06624819  0.02616318] yaw=151.4deg	[env.py: 1019]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:46:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.0ms, total=170.1ms	[env.py: 1075]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.125, 0.192, 0.026)	[env.py: 1079]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.1 deg	[env.py: 1082]
-05/09 02:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.718m	[env.py: 1086]
-05/09 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:46:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:46:21 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:46:21 INFO: [Worker 0] Worker 0 house 1 episode 56/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:46:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:46:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:46:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:46:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:46:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:46:22 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.369[m] 92.847[deg]	[grasp_sample.py: 539]
-05/09 02:46:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:46:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:46:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:46:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:46:49 INFO: [Worker 0] Object is not in grasp! 0.00182 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
-05/09 02:46:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:46:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:46:49 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:46:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 342 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:46:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.605s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:46:50 INFO: [Worker 0] Feasible grasp found 285 (originally 91): w/ 0.161[m] 5.391[deg]	[grasp_sample.py: 539]
-05/09 02:46:50 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:46:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:46:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:46:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:47:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:47:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:47:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:47:14 INFO: [Worker 0] Worker 0 house 1 episode 59 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:47:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:47:19 INFO: [Worker 0] Worker 0 house 1 episode 59 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:47:33 INFO: [Worker 0] Saved videos eagerly for episode 71 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:47:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
-05/09 02:47:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:47:41 INFO: [Worker 0] Saved videos eagerly for episode 70 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:47:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
-05/09 02:47:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:47:45 INFO: [Worker 0] Worker 0 house 1 episode 56 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:47:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:47:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:47:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.81s (batch: 4.39s, save: 10.42s)	[pipeline.py: 300]
-05/09 02:47:49 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.52s:
-  episode_total: mean=179.24s, total=179.24s, count=1, min=179235.7ms, max=179235.7ms
-  sensor_polling: mean=443.7ms, total=133.10s, count=300, min=386.1ms, max=684.3ms
-  save_trajectories: mean=10.42s, total=10.42s, count=1, min=10422.6ms, max=10422.6ms
-  physics_step: mean=21.1ms, total=6.32s, count=300, min=14.3ms, max=58.3ms
-  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.6ms, max=4391.6ms
-  task_sampling: mean=522.1ms, total=522.1ms, count=1, min=522.1ms, max=522.1ms
-  task_specific_sample: mean=518.0ms, total=518.0ms, count=1, min=518.0ms, max=518.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=518.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:47:50 WARNING: [Worker 0] No trajectory data to save for sim	[pipeline.py: 234]
-05/09 02:47:50 WARNING: [Worker 0] No trajectory data to save for sim	[pipeline.py: 234]
-05/09 02:47:50 INFO: [Worker 0] Worker 0 completed house 1: 54/55 successful episodes	[pipeline.py: 1323]
-05/09 02:47:50 INFO: [Worker 0] [PROFILE] House 1 complete: 54/55 successful, 55 episodes, total_time=18366.29s
-  House averages:
-  episode_total: mean=165.65s, total=9939.10s, count=60, min=2374.6ms, max=203489.8ms
-  sensor_polling: mean=446.1ms, total=7395.43s, count=16578, min=373.8ms, max=1051.5ms
-  save_trajectories: mean=8.58s, total=394.82s, count=46, min=6787.2ms, max=10422.6ms
-  physics_step: mean=21.5ms, total=356.65s, count=16578, min=13.5ms, max=107.3ms
-  save_batch_prep: mean=4.01s, total=216.44s, count=54, min=3353.2ms, max=4949.3ms
-  task_sampling: mean=498.8ms, total=29.93s, count=60, min=307.7ms, max=4017.5ms
-  task_specific_sample: mean=442.6ms, total=26.56s, count=60, min=305.1ms, max=863.8ms
-  scene_load: mean=3.15s, total=3.15s, count=1, min=3149.8ms, max=3149.8ms
-  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2204.2ms, max=2204.2ms
-  scene_compile: mean=792.6ms, total=792.6ms, count=1, min=792.6ms, max=792.6ms
-  compile_mujoco: mean=498.9ms, total=498.9ms, count=1, min=498.9ms, max=498.9ms
-  compile_xml_load: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms
-  scene_randomize: mean=2.4ms, total=143.5ms, count=60, min=1.1ms, max=7.8ms
-  scene_init: mean=114.8ms, total=114.8ms, count=1, min=114.8ms, max=114.8ms
-  compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
-  compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
-  scene_asset_install: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
-  asset_install_grasps: mean=27.3ms, total=27.3ms, count=1, min=27.3ms, max=27.3ms
-  mj_forward_sync: mean=427.7us, total=25.7ms, count=60, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
-  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=20.1us, total=1.2ms, count=60, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/09 02:47:50 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/09 02:47:50 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 55 episodes, total_time=18366.29s
-  Worker averages:
-  episode_total: mean=165.65s, total=9939.10s, count=60, min=2374.6ms, max=203489.8ms
-  sensor_polling: mean=446.1ms, total=7395.43s, count=16578, min=373.8ms, max=1051.5ms
-  save_trajectories: mean=8.58s, total=394.82s, count=46, min=6787.2ms, max=10422.6ms
-  physics_step: mean=21.5ms, total=356.65s, count=16578, min=13.5ms, max=107.3ms
-  save_batch_prep: mean=4.01s, total=216.44s, count=54, min=3353.2ms, max=4949.3ms
-  task_sampling: mean=498.8ms, total=29.93s, count=60, min=307.7ms, max=4017.5ms
-  task_specific_sample: mean=442.6ms, total=26.56s, count=60, min=305.1ms, max=863.8ms
-  scene_load: mean=3.15s, total=3.15s, count=1, min=3149.8ms, max=3149.8ms
-  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2204.2ms, max=2204.2ms
-  scene_compile: mean=792.6ms, total=792.6ms, count=1, min=792.6ms, max=792.6ms
-  compile_mujoco: mean=498.9ms, total=498.9ms, count=1, min=498.9ms, max=498.9ms
-  compile_xml_load: mean=203.9ms, total=203.9ms, count=1, min=203.9ms, max=203.9ms
-  scene_randomize: mean=2.4ms, total=143.5ms, count=60, min=1.1ms, max=7.8ms
-  scene_init: mean=114.8ms, total=114.8ms, count=1, min=114.8ms, max=114.8ms
-  compile_aux_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
-  compile_aux_policy_objects: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
-  scene_asset_install: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
-  asset_install_grasps: mean=27.3ms, total=27.3ms, count=1, min=27.3ms, max=27.3ms
-  mj_forward_sync: mean=427.7us, total=25.7ms, count=60, min=0.4ms, max=0.7ms
-  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
-  compile_robot_add: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
-  asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  policy_setup: mean=20.1us, total=1.2ms, count=60, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/09 02:47:52 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/09 02:47:52 INFO: Success count: 54, Total count: 55	[pipeline.py: 1491]
-05/09 02:47:52 INFO: Success rate: 98.18%	[pipeline.py: 1492]
-05/09 02:47:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:47:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:47:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.01s (batch: 4.64s, save: 8.37s)	[pipeline.py: 300]
-05/09 02:47:55 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.37s:
-  episode_total: mean=186.04s, total=186.04s, count=1, min=186042.6ms, max=186042.6ms
-  sensor_polling: mean=451.4ms, total=135.42s, count=300, min=389.6ms, max=702.7ms
-  save_trajectories: mean=8.37s, total=8.37s, count=1, min=8373.5ms, max=8373.5ms
-  physics_step: mean=22.3ms, total=6.69s, count=300, min=14.2ms, max=68.3ms
-  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4635.2ms, max=4635.2ms
-  task_sampling: mean=373.6ms, total=373.6ms, count=1, min=373.6ms, max=373.6ms
-  task_specific_sample: mean=370.0ms, total=370.0ms, count=1, min=370.0ms, max=370.0ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=452.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
-  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:47:56 WARNING: [Worker 0] No trajectory data to save for sim	[pipeline.py: 234]
-05/09 02:47:56 WARNING: [Worker 0] No trajectory data to save for sim	[pipeline.py: 234]
-05/09 02:47:56 INFO: [Worker 0] Worker 0 completed house 1: 55/55 successful episodes	[pipeline.py: 1323]
-05/09 02:47:56 INFO: [Worker 0] [PROFILE] House 1 complete: 55/55 successful, 55 episodes, total_time=18389.80s
-  House averages:
-  episode_total: mean=165.74s, total=9944.62s, count=60, min=1849.9ms, max=215619.6ms
-  sensor_polling: mean=445.6ms, total=7397.33s, count=16601, min=359.1ms, max=1027.1ms
-  save_trajectories: mean=8.42s, total=404.29s, count=48, min=6971.1ms, max=11277.3ms
-  physics_step: mean=21.8ms, total=362.32s, count=16601, min=13.4ms, max=133.3ms
-  save_batch_prep: mean=3.92s, total=215.62s, count=55, min=3529.1ms, max=4905.8ms
-  task_sampling: mean=509.3ms, total=30.56s, count=60, min=330.1ms, max=4172.2ms
-  task_specific_sample: mean=447.8ms, total=26.87s, count=60, min=326.9ms, max=816.2ms
-  scene_load: mean=3.47s, total=3.47s, count=1, min=3472.0ms, max=3472.0ms
-  scene_env_create: mean=2.31s, total=2.31s, count=1, min=2310.9ms, max=2310.9ms
-  scene_compile: mean=1.01s, total=1.01s, count=1, min=1006.6ms, max=1006.6ms
-  compile_mujoco: mean=509.6ms, total=509.6ms, count=1, min=509.6ms, max=509.6ms
-  compile_xml_load: mean=422.8ms, total=422.8ms, count=1, min=422.8ms, max=422.8ms
-  scene_randomize: mean=2.3ms, total=139.8ms, count=60, min=1.2ms, max=3.2ms
-  scene_init: mean=113.2ms, total=113.2ms, count=1, min=113.2ms, max=113.2ms
-  compile_aux_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  compile_aux_policy_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
-  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
-  mj_forward_sync: mean=420.6us, total=25.2ms, count=60, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
-  asset_install_objects: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=17.5us, total=1.0ms, count=60, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/09 02:47:56 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/09 02:47:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 55 episodes, total_time=18389.80s
-  Worker averages:
-  episode_total: mean=165.74s, total=9944.62s, count=60, min=1849.9ms, max=215619.6ms
-  sensor_polling: mean=445.6ms, total=7397.33s, count=16601, min=359.1ms, max=1027.1ms
-  save_trajectories: mean=8.42s, total=404.29s, count=48, min=6971.1ms, max=11277.3ms
-  physics_step: mean=21.8ms, total=362.32s, count=16601, min=13.4ms, max=133.3ms
-  save_batch_prep: mean=3.92s, total=215.62s, count=55, min=3529.1ms, max=4905.8ms
-  task_sampling: mean=509.3ms, total=30.56s, count=60, min=330.1ms, max=4172.2ms
-  task_specific_sample: mean=447.8ms, total=26.87s, count=60, min=326.9ms, max=816.2ms
-  scene_load: mean=3.47s, total=3.47s, count=1, min=3472.0ms, max=3472.0ms
-  scene_env_create: mean=2.31s, total=2.31s, count=1, min=2310.9ms, max=2310.9ms
-  scene_compile: mean=1.01s, total=1.01s, count=1, min=1006.6ms, max=1006.6ms
-  compile_mujoco: mean=509.6ms, total=509.6ms, count=1, min=509.6ms, max=509.6ms
-  compile_xml_load: mean=422.8ms, total=422.8ms, count=1, min=422.8ms, max=422.8ms
-  scene_randomize: mean=2.3ms, total=139.8ms, count=60, min=1.2ms, max=3.2ms
-  scene_init: mean=113.2ms, total=113.2ms, count=1, min=113.2ms, max=113.2ms
-  compile_aux_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  compile_aux_policy_objects: mean=47.5ms, total=47.5ms, count=1, min=47.5ms, max=47.5ms
-  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
-  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
-  mj_forward_sync: mean=420.6us, total=25.2ms, count=60, min=0.4ms, max=0.7ms
-  compile_robot_add: mean=15.9ms, total=15.9ms, count=1, min=15.9ms, max=15.9ms
-  asset_install_objects: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
-  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
-  policy_setup: mean=17.5us, total=1.0ms, count=60, min=0.0ms, max=0.1ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/09 02:47:59 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/09 02:47:59 INFO: Success count: 55, Total count: 55	[pipeline.py: 1491]
-05/09 02:47:59 INFO: Success rate: 100.00%	[pipeline.py: 1492]
-05/09 02:48:05 INFO: [Worker 0] Saved videos eagerly for episode 69 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:48:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:48:05 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
-05/09 02:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:48:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:48:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:48:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.42s (batch: 3.80s, save: 9.63s)	[pipeline.py: 300]
-05/09 02:48:19 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.37s:
-  episode_total: mean=171.74s, total=171.74s, count=1, min=171738.9ms, max=171738.9ms
-  sensor_polling: mean=444.4ms, total=127.10s, count=286, min=389.8ms, max=730.3ms
-  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9626.2ms, max=9626.2ms
-  physics_step: mean=21.4ms, total=6.11s, count=286, min=13.6ms, max=53.4ms
-  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3796.1ms, max=3796.1ms
-  task_sampling: mean=368.3ms, total=368.3ms, count=1, min=368.3ms, max=368.3ms
-  task_specific_sample: mean=365.0ms, total=365.0ms, count=1, min=365.0ms, max=365.0ms
-  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
-  mj_forward_sync: mean=371.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:48:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:48:21 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:48:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:48:21 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:48:21 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:48:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:48:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044595m	[env.py: 870]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:48:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95511165  0.68931976 -0.04459514] yaw=-163.4deg	[env.py: 1019]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02724908  0.65024874 -0.04459514] yaw=-162.8deg	[env.py: 1019]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0931907   0.80452058 -0.04459514] yaw=-158.2deg	[env.py: 1019]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:48:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.2ms, total=90.2ms	[env.py: 1075]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.689, -0.045)	[env.py: 1079]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.4 deg	[env.py: 1082]
-05/09 02:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
-05/09 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:48:21 INFO: [Worker 0] Sampled task 'Open the icebox'	[task_sampler.py: 1136]
-05/09 02:48:21 INFO: [Worker 0] Worker 0 house 1 episode 57/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:48:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:48:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:48:21 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:48:21 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:48:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:48:21 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.539[m] 85.732[deg]	[grasp_sample.py: 539]
-05/09 02:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:48:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:48:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:48:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:48:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:48:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:48:27 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:48:27 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 318 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:48:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.377s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:48:28 INFO: [Worker 0] Feasible grasp found 346 (originally 152): w/ 0.100[m] 0.307[deg]	[grasp_sample.py: 539]
-05/09 02:48:28 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:48:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:48:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:48:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:48:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:48:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:48:57 INFO: [Worker 0] Worker 0 house 1 episode 56 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:49:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:49:15 INFO: [Worker 0] Saved videos eagerly for episode 70 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:49:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:49:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:49:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:49:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:49:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:49:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:49:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.48s (batch: 3.83s, save: 7.65s)	[pipeline.py: 300]
-05/09 02:49:27 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.42s:
-  episode_total: mean=186.33s, total=186.33s, count=1, min=186333.1ms, max=186333.1ms
-  sensor_polling: mean=447.1ms, total=134.12s, count=300, min=371.2ms, max=705.3ms
-  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7645.5ms, max=7645.5ms
-  physics_step: mean=21.7ms, total=6.51s, count=300, min=13.8ms, max=54.0ms
-  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3833.0ms, max=3833.0ms
-  task_sampling: mean=419.6ms, total=419.6ms, count=1, min=419.6ms, max=419.6ms
-  task_specific_sample: mean=416.2ms, total=416.2ms, count=1, min=416.2ms, max=416.2ms
-  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
-  mj_forward_sync: mean=369.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:49:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:49:29 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:49:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:49:29 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:49:29 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:49:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:49:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038592m	[env.py: 870]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:49:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04528114  0.60886169  0.03859179] yaw=-159.6deg	[env.py: 1019]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99552786  0.87543239  0.03859179] yaw=-141.2deg	[env.py: 1019]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98392692  0.41836346  0.03859179] yaw=185.5deg	[env.py: 1019]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:49:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=63.9ms, total=64.0ms	[env.py: 1075]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.609, 0.039)	[env.py: 1079]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.6 deg	[env.py: 1082]
-05/09 02:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m	[env.py: 1086]
-05/09 02:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:49:29 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim'	[task_sampler.py: 1136]
-05/09 02:49:29 INFO: [Worker 0] Worker 0 house 1 episode 57/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:49:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:49:29 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:49:29 INFO: [Worker 0] Collision-checked 388 grasps in 0.058s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:49:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:49:30 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.428[m] 93.872[deg]	[grasp_sample.py: 539]
-05/09 02:49:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:49:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:49:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:50:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:50:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:50:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:50:36 INFO: [Worker 0] Worker 0 house 1 episode 57 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:50:59 INFO: [Worker 0] Saved videos eagerly for episode 70 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:50:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:50:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:51:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:51:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:51:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.44s (batch: 3.73s, save: 7.71s)	[pipeline.py: 300]
-05/09 02:51:11 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.36s:
-  episode_total: mean=170.82s, total=170.82s, count=1, min=170817.5ms, max=170817.5ms
-  sensor_polling: mean=417.4ms, total=125.23s, count=300, min=370.3ms, max=666.3ms
-  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7714.8ms, max=7714.8ms
-  physics_step: mean=20.7ms, total=6.22s, count=300, min=14.4ms, max=38.7ms
-  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.4ms, max=3729.4ms
-  task_sampling: mean=363.3ms, total=363.3ms, count=1, min=363.3ms, max=363.3ms
-  task_specific_sample: mean=360.2ms, total=360.2ms, count=1, min=360.2ms, max=360.2ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=368.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:51:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:51:13 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:51:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:51:13 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:51:13 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:51:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:51:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040982m	[env.py: 870]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:51:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.031083    0.31071099  0.04098184] yaw=177.5deg	[env.py: 1019]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97195818  0.19542945  0.04098184] yaw=158.8deg	[env.py: 1019]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03277059  1.01955134  0.04098184] yaw=-140.6deg	[env.py: 1019]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:51:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.6ms, total=133.6ms	[env.py: 1075]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.311, 0.041)	[env.py: 1079]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg	[env.py: 1082]
-05/09 02:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
-05/09 02:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:51:13 INFO: [Worker 0] Sampled task 'Open the home appliance'	[task_sampler.py: 1136]
-05/09 02:51:13 INFO: [Worker 0] Worker 0 house 1 episode 58/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:51:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:51:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:51:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:51:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:51:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.883s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:51:15 INFO: [Worker 0] Feasible grasp found 348 (originally 154): w/ 0.407[m] 90.348[deg]	[grasp_sample.py: 539]
-05/09 02:51:15 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:51:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:51:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:51:35 INFO: [Worker 0] Worker 0 house 1 episode 57 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:51:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:51:56 INFO: [Worker 0] Saved videos eagerly for episode 71 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:51:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
-05/09 02:51:56 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
-05/09 02:52:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:52:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:52:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:52:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:52:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.49s (batch: 3.53s, save: 6.96s)	[pipeline.py: 300]
-05/09 02:52:07 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.36s:
-  episode_total: mean=158.11s, total=158.11s, count=1, min=158108.0ms, max=158108.0ms
-  sensor_polling: mean=412.9ms, total=116.84s, count=283, min=357.9ms, max=771.8ms
-  save_trajectories: mean=6.96s, total=6.96s, count=1, min=6964.1ms, max=6964.1ms
-  physics_step: mean=21.4ms, total=6.06s, count=283, min=14.4ms, max=58.4ms
-  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3528.0ms, max=3528.0ms
-  task_sampling: mean=357.8ms, total=357.8ms, count=1, min=357.8ms, max=357.8ms
-  task_specific_sample: mean=354.7ms, total=354.7ms, count=1, min=354.7ms, max=354.7ms
-  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
-  mj_forward_sync: mean=387.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:52:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:52:08 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:52:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:52:08 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:52:08 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:52:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:52:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036719m	[env.py: 870]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:52:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19295178  1.03252528  0.0367192 ] yaw=-129.9deg	[env.py: 1019]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08973766  1.03359628  0.0367192 ] yaw=-134.4deg	[env.py: 1019]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12180401  1.06543325  0.0367192 ] yaw=-130.2deg	[env.py: 1019]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:52:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.2ms	[env.py: 1075]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.193, 1.033, 0.037)	[env.py: 1079]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.9 deg	[env.py: 1082]
-05/09 02:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
-05/09 02:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:52:09 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 02:52:09 INFO: [Worker 0] Worker 0 house 1 episode 58/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:52:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:52:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:52:09 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:52:09 INFO: [Worker 0] Collision-checked 388 grasps in 0.057s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:52:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:52:09 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.522[m] 91.524[deg]	[grasp_sample.py: 539]
-05/09 02:52:09 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:52:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:52:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:52:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:53:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:53:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:53:28 INFO: [Worker 0] Worker 0 house 1 episode 58 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:53:49 INFO: [Worker 0] Saved videos eagerly for episode 71 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:53:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:53:49 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
-05/09 02:54:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:54:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:54:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.46s (batch: 4.31s, save: 7.15s)	[pipeline.py: 300]
-05/09 02:54:01 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.40s:
-  episode_total: mean=167.55s, total=167.55s, count=1, min=167545.1ms, max=167545.1ms
-  sensor_polling: mean=418.9ms, total=116.44s, count=278, min=371.6ms, max=965.2ms
-  save_trajectories: mean=7.15s, total=7.15s, count=1, min=7152.7ms, max=7152.7ms
-  physics_step: mean=21.9ms, total=6.09s, count=278, min=15.8ms, max=46.0ms
-  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4312.2ms, max=4312.2ms
-  task_sampling: mean=395.6ms, total=395.6ms, count=1, min=395.6ms, max=395.6ms
-  task_specific_sample: mean=392.1ms, total=392.1ms, count=1, min=392.1ms, max=392.1ms
-  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  mj_forward_sync: mean=438.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:54:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:54:02 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:54:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:54:02 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:54:02 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:54:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:54:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042875m	[env.py: 870]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:54:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.24022772  1.04711409 -0.04287467] yaw=-142.6deg	[env.py: 1019]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09637968  0.14539019 -0.04287467] yaw=161.3deg	[env.py: 1019]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96409611  0.1073104  -0.04287467] yaw=155.2deg	[env.py: 1019]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.4ms, total=104.4ms	[env.py: 1075]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.240, 1.047, -0.043)	[env.py: 1079]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
-05/09 02:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
-05/09 02:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:54:02 INFO: [Worker 0] Sampled task 'Open the two-door white fridge'	[task_sampler.py: 1136]
-05/09 02:54:02 INFO: [Worker 0] Worker 0 house 1 episode 59/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:54:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:54:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:54:02 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:54:03 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:54:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:54:03 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.545[m] 84.077[deg]	[grasp_sample.py: 539]
-05/09 02:54:03 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:54:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:54:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:54:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:54:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:54:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:54:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.097s, found 326 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:54:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.634s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:54:30 INFO: [Worker 0] Feasible grasp found 160 (originally 160): w/ 0.113[m] 4.066[deg]	[grasp_sample.py: 539]
-05/09 02:54:30 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:54:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:54:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:54:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:54:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:54:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:54:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:54:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:54:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.066s, found 336 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:54:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:54:44 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.029[m] 2.370[deg]	[grasp_sample.py: 539]
-05/09 02:54:45 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 02:54:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
-05/09 02:54:46 INFO: [Worker 0] Scene setup completed.
-	[pick_task_sampler.py: 260]
-05/09 02:54:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
-05/09 02:54:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:54:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:54:46 WARNING: [Worker 0] No CLIP module, using dummy description scores.	[object_manager.py: 1093]
-05/09 02:54:46 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1']	[opening_task_samplers.py: 178]
-05/09 02:54:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0	[opening_task_samplers.py: 187]
-05/09 02:54:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549)	[env.py: 845]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015776m	[env.py: 870]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m	[env.py: 871]
-05/09 02:54:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius	[env.py: 907]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99197688 -0.00414575  0.01577559] yaw=158.1deg	[env.py: 1019]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96890205  0.41302417  0.01577559] yaw=171.3deg	[env.py: 1019]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98062462  0.86695522  0.01577559] yaw=-141.5deg	[env.py: 1019]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
-05/09 02:54:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.6ms, total=75.6ms	[env.py: 1075]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, -0.004, 0.016)	[env.py: 1079]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.1 deg	[env.py: 1082]
-05/09 02:54:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
-05/09 02:54:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
-05/09 02:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
-05/09 02:54:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
-05/09 02:54:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
-05/09 02:54:47 INFO: [Worker 0] Sampled task 'Open the refrigerator'	[task_sampler.py: 1136]
-05/09 02:54:47 INFO: [Worker 0] Worker 0 house 1 episode 59/60 collected=0/10	[pipeline.py: 1044]
-05/09 02:54:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
-05/09 02:54:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:54:47 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:54:47 INFO: [Worker 0] Collision-checked 388 grasps in 0.062s, found 388 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:54:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.229s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:54:49 INFO: [Worker 0] Feasible grasp found 347 (originally 153): w/ 0.541[m] 86.278[deg]	[grasp_sample.py: 539]
-05/09 02:54:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:54:50 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
-05/09 02:54:52 WARNING: [Worker 0] No trajectory data to save for sim	[pipeline.py: 234]
-05/09 02:54:52 WARNING: [Worker 0] No trajectory data to save for sim	[pipeline.py: 234]
-05/09 02:54:52 INFO: [Worker 0] Worker 0 completed house 1: 56/57 successful episodes	[pipeline.py: 1323]
-05/09 02:54:52 INFO: [Worker 0] [PROFILE] House 1 complete: 56/57 successful, 57 episodes, total_time=19127.79s
-  House averages:
-  episode_total: mean=172.64s, total=10358.53s, count=60, min=3606.5ms, max=205068.7ms
-  sensor_polling: mean=443.2ms, total=7674.61s, count=17315, min=357.9ms, max=954.0ms
-  save_trajectories: mean=8.61s, total=430.70s, count=50, min=6964.1ms, max=11253.3ms
-  physics_step: mean=21.7ms, total=375.85s, count=17315, min=13.3ms, max=109.7ms
-  save_batch_prep: mean=3.91s, total=219.12s, count=56, min=3318.4ms, max=5326.0ms
-  task_sampling: mean=539.5ms, total=32.37s, count=60, min=297.6ms, max=3823.2ms
-  task_specific_sample: mean=481.5ms, total=28.89s, count=60, min=294.5ms, max=1039.8ms
-  scene_load: mean=3.26s, total=3.26s, count=1, min=3264.5ms, max=3264.5ms
-  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2173.1ms, max=2173.1ms
-  scene_compile: mean=916.1ms, total=916.1ms, count=1, min=916.1ms, max=916.1ms
-  compile_mujoco: mean=652.3ms, total=652.3ms, count=1, min=652.3ms, max=652.3ms
-  compile_xml_load: mean=197.4ms, total=197.4ms, count=1, min=197.4ms, max=197.4ms
-  scene_randomize: mean=2.3ms, total=140.4ms, count=60, min=1.1ms, max=5.4ms
-  scene_init: mean=101.5ms, total=101.5ms, count=1, min=101.5ms, max=101.5ms
-  scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms
-  compile_aux_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
-  compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
-  asset_install_grasps: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms
-  mj_forward_sync: mean=409.5us, total=24.6ms, count=60, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=20.4ms, total=20.4ms, count=1, min=20.4ms, max=20.4ms
-  asset_install_scene: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=18.3us, total=1.1ms, count=60, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/09 02:54:52 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/09 02:54:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 57 episodes, total_time=19127.79s
-  Worker averages:
-  episode_total: mean=172.64s, total=10358.53s, count=60, min=3606.5ms, max=205068.7ms
-  sensor_polling: mean=443.2ms, total=7674.61s, count=17315, min=357.9ms, max=954.0ms
-  save_trajectories: mean=8.61s, total=430.70s, count=50, min=6964.1ms, max=11253.3ms
-  physics_step: mean=21.7ms, total=375.85s, count=17315, min=13.3ms, max=109.7ms
-  save_batch_prep: mean=3.91s, total=219.12s, count=56, min=3318.4ms, max=5326.0ms
-  task_sampling: mean=539.5ms, total=32.37s, count=60, min=297.6ms, max=3823.2ms
-  task_specific_sample: mean=481.5ms, total=28.89s, count=60, min=294.5ms, max=1039.8ms
-  scene_load: mean=3.26s, total=3.26s, count=1, min=3264.5ms, max=3264.5ms
-  scene_env_create: mean=2.17s, total=2.17s, count=1, min=2173.1ms, max=2173.1ms
-  scene_compile: mean=916.1ms, total=916.1ms, count=1, min=916.1ms, max=916.1ms
-  compile_mujoco: mean=652.3ms, total=652.3ms, count=1, min=652.3ms, max=652.3ms
-  compile_xml_load: mean=197.4ms, total=197.4ms, count=1, min=197.4ms, max=197.4ms
-  scene_randomize: mean=2.3ms, total=140.4ms, count=60, min=1.1ms, max=5.4ms
-  scene_init: mean=101.5ms, total=101.5ms, count=1, min=101.5ms, max=101.5ms
-  scene_asset_install: mean=73.5ms, total=73.5ms, count=1, min=73.5ms, max=73.5ms
-  compile_aux_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
-  compile_aux_policy_objects: mean=48.6ms, total=48.6ms, count=1, min=48.6ms, max=48.6ms
-  asset_install_grasps: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms
-  mj_forward_sync: mean=409.5us, total=24.6ms, count=60, min=0.4ms, max=0.6ms
-  asset_install_objects: mean=20.4ms, total=20.4ms, count=1, min=20.4ms, max=20.4ms
-  asset_install_scene: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
-  policy_setup: mean=18.3us, total=1.1ms, count=60, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/09 02:54:55 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/09 02:54:55 INFO: Success count: 56, Total count: 57	[pipeline.py: 1491]
-05/09 02:54:55 INFO: Success rate: 98.25%	[pipeline.py: 1492]
-05/09 02:54:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:55:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:55:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
-05/09 02:56:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
-05/09 02:56:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
-05/09 02:56:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz	[grasp_sample.py: 179]
-05/09 02:56:00 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
-05/09 02:56:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.076s, found 324 non-colliding grasps	[grasp_sample.py: 465]
-05/09 02:56:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.309s, found feasible grasp: True	[grasp_sample.py: 500]
-05/09 02:56:02 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.091[m] 1.694[deg]	[grasp_sample.py: 539]
-05/09 02:56:02 INFO: [Worker 0] Planning completed. w/ 3 steps
-	[open_close_planner_policy.py: 225]
-05/09 02:56:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
-05/09 02:56:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:56:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
-05/09 02:56:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
-05/09 02:56:23 INFO: [Worker 0] Worker 0 house 1 episode 59 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True	[pipeline.py: 1108]
-05/09 02:56:43 INFO: [Worker 0] Saved videos eagerly for episode 72 to /scr/ravenh/fridge1_minimal_wall/sim	[pipeline.py: 1174]
-05/09 02:56:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
-05/09 02:56:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
-05/09 02:56:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
-05/09 02:56:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim	[save_utils.py: 785]
-05/09 02:56:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.18s (batch: 3.76s, save: 9.41s)	[pipeline.py: 300]
-05/09 02:56:56 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.35s:
-  episode_total: mean=174.31s, total=174.31s, count=1, min=174312.8ms, max=174312.8ms
-  sensor_polling: mean=405.2ms, total=121.55s, count=300, min=361.2ms, max=876.4ms
-  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9411.3ms, max=9411.3ms
-  physics_step: mean=19.7ms, total=5.92s, count=300, min=15.6ms, max=46.7ms
-  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3765.0ms, max=3765.0ms
-  task_sampling: mean=353.9ms, total=353.9ms, count=1, min=353.9ms, max=353.9ms
-  task_specific_sample: mean=350.3ms, total=350.3ms, count=1, min=350.3ms, max=350.3ms
-  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
-  mj_forward_sync: mean=367.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
-  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
-05/09 02:56:58 WARNING: [Worker 0] No trajectory data to save for sim	[pipeline.py: 234]
-05/09 02:56:58 WARNING: [Worker 0] No trajectory data to save for sim	[pipeline.py: 234]
-05/09 02:56:58 INFO: [Worker 0] Worker 0 completed house 1: 58/58 successful episodes	[pipeline.py: 1323]
-05/09 02:56:58 INFO: [Worker 0] [PROFILE] House 1 complete: 58/58 successful, 58 episodes, total_time=19346.23s
-  House averages:
-  episode_total: mean=174.74s, total=10484.68s, count=60, min=136982.4ms, max=204905.3ms
-  sensor_polling: mean=443.7ms, total=7754.86s, count=17478, min=360.1ms, max=1163.1ms
-  save_trajectories: mean=8.59s, total=438.14s, count=51, min=6969.2ms, max=11084.6ms
-  physics_step: mean=21.5ms, total=375.22s, count=17478, min=13.1ms, max=121.8ms
-  save_batch_prep: mean=3.94s, total=228.23s, count=58, min=3496.4ms, max=4760.3ms
-  task_sampling: mean=508.0ms, total=30.48s, count=60, min=315.8ms, max=3989.0ms
-  task_specific_sample: mean=449.7ms, total=26.98s, count=60, min=312.2ms, max=806.3ms
-  scene_load: mean=3.27s, total=3.27s, count=1, min=3271.5ms, max=3271.5ms
-  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2139.7ms, max=2139.7ms
-  scene_compile: mean=842.7ms, total=842.7ms, count=1, min=842.7ms, max=842.7ms
-  compile_mujoco: mean=563.1ms, total=563.1ms, count=1, min=563.1ms, max=563.1ms
-  scene_init: mean=248.7ms, total=248.7ms, count=1, min=248.7ms, max=248.7ms
-  compile_xml_load: mean=214.6ms, total=214.6ms, count=1, min=214.6ms, max=214.6ms
-  scene_randomize: mean=2.5ms, total=147.8ms, count=60, min=1.3ms, max=6.6ms
-  compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
-  compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
-  scene_asset_install: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  asset_install_grasps: mean=28.7ms, total=28.7ms, count=1, min=28.7ms, max=28.7ms
-  mj_forward_sync: mean=418.8us, total=25.1ms, count=60, min=0.3ms, max=0.9ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=18.3us, total=1.1ms, count=60, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
-05/09 02:56:58 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
-05/09 02:56:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 58 episodes, total_time=19346.23s
-  Worker averages:
-  episode_total: mean=174.74s, total=10484.68s, count=60, min=136982.4ms, max=204905.3ms
-  sensor_polling: mean=443.7ms, total=7754.86s, count=17478, min=360.1ms, max=1163.1ms
-  save_trajectories: mean=8.59s, total=438.14s, count=51, min=6969.2ms, max=11084.6ms
-  physics_step: mean=21.5ms, total=375.22s, count=17478, min=13.1ms, max=121.8ms
-  save_batch_prep: mean=3.94s, total=228.23s, count=58, min=3496.4ms, max=4760.3ms
-  task_sampling: mean=508.0ms, total=30.48s, count=60, min=315.8ms, max=3989.0ms
-  task_specific_sample: mean=449.7ms, total=26.98s, count=60, min=312.2ms, max=806.3ms
-  scene_load: mean=3.27s, total=3.27s, count=1, min=3271.5ms, max=3271.5ms
-  scene_env_create: mean=2.14s, total=2.14s, count=1, min=2139.7ms, max=2139.7ms
-  scene_compile: mean=842.7ms, total=842.7ms, count=1, min=842.7ms, max=842.7ms
-  compile_mujoco: mean=563.1ms, total=563.1ms, count=1, min=563.1ms, max=563.1ms
-  scene_init: mean=248.7ms, total=248.7ms, count=1, min=248.7ms, max=248.7ms
-  compile_xml_load: mean=214.6ms, total=214.6ms, count=1, min=214.6ms, max=214.6ms
-  scene_randomize: mean=2.5ms, total=147.8ms, count=60, min=1.3ms, max=6.6ms
-  compile_aux_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
-  compile_aux_policy_objects: mean=49.7ms, total=49.7ms, count=1, min=49.7ms, max=49.7ms
-  scene_asset_install: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
-  asset_install_grasps: mean=28.7ms, total=28.7ms, count=1, min=28.7ms, max=28.7ms
-  mj_forward_sync: mean=418.8us, total=25.1ms, count=60, min=0.3ms, max=0.9ms
-  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
-  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
-  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
-  policy_setup: mean=18.3us, total=1.1ms, count=60, min=0.0ms, max=0.0ms
-  scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
-05/09 02:57:00 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
-05/09 02:57:00 INFO: Success count: 58, Total count: 58	[pipeline.py: 1491]
-05/09 02:57:00 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
deleted file mode 100644
index 86a5fbbe822e5ed848cb49b0379a8aa674a35efb..0000000000000000000000000000000000000000
--- a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5
deleted file mode 100644
index 0cc7b871db7cfacbe900155a146fcb244cf9cdf5..0000000000000000000000000000000000000000
--- a/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5
+++ /dev/null
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diff --git a/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5
deleted file mode 100644
index 2ef85226d3cc75b8b3de674c760c522ac674c6b9..0000000000000000000000000000000000000000
--- a/fridge1_minimal_wall/trajectories_batch_3_of_4_cam_rand.h5
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5
deleted file mode 100644
index e9d9a31a49ca760f6552817cdf154169f397817f..0000000000000000000000000000000000000000
--- a/fridge1_minimal_wall/trajectories_batch_4_of_4_cam_rand.h5
+++ /dev/null
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